Preprint Open access
Targeted Modality Dropout for Real-Robot Manipulation Robust to Intermittent Vision Loss
Imitation learning policies that integrate multiple sensory modalities are prone to overreliance on a dominant modality, such as vision, during training, which can disrupt policy execution when that modality is lost at inference time. In this paper, we introduce Targeted Modality Dropout (TMD), in which the dependence …