REDACT: Robust Perceptive Locomotion under Unseen Visual Corruption

arXiv:2609.25450 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Comments: 8 pages, 9 figures. Project page: https://gatjungk.github.io/REDACT/

Project page: https://gatjungk.github.io/REDACT

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Robustness — 15× in this paper · explained in 5 episodes
• Calibration — 12× in this paper · explained in 7 episodes
• Actor — 7× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Aggregation — 4× in this paper · explained in 1 episode
• Quantization — 4× in this paper · explained in 12 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 3× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 2× in this paper · explained in 3 episodes
• Attention Entropy — 1× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Conformal Prediction — 1× in this paper · explained in 5 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Exchangeability — 1× in this paper · explained in 2 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Multimodal Integration — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Reward Shaping — 1× in this paper · explained in 2 episodes
• Self-Supervised Learning — 1× in this paper · explained in 7 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments
• KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion
• REAL: Robust Extreme Agility via Spatio-Temporal Policy Learning and Physics-Guided Filtering
• AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
• Proximal Policy Optimization Algorithms

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies