The smaller ones don't need power, they need the threat of gaining power.
If the Greens have a policy that will get people to vote for them, then the Labor party has to pick that up as well or start haemorrhaging preferences. Ditto the Liberals and various lobbies like One Nation.
It is extremely difficult for the major Australian parties to ignore a minor party that has better policies. Although the majors are stable as a brand, the actual policy mix and strategy is quite dynamic and influenced by the minors.