TMD：间歇性视觉丢失下真实机器人操作鲁棒性

1. 12:00
   arXiv · Robotics

   Targeted Modality Dropout：间歇性视觉丢失下仍稳健的真机操作

   论文提出 Targeted Modality Dropout（TMD），用注意力估计各模态依赖度并选择性丢弃主导模态，同时对依赖分布施加熵正则化，缓解模仿学习策略对视觉的过度依赖。在双臂机械臂真机评估中，视觉丢失时基线策略成功率大幅下降，TMD 仍能维持任务执行；随机丢弃模态且无熵正则化的常规 dropout 在无视觉丢失时也失败。论文已投稿 IEEE/SICE SII 2027。

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