Article

When Black-Box Robot Policies Fail: Online Sensor Diagnosis and Repair with a Transparent Surrogate

The study proposes a structured surrogate model that separates periodic gait from sensor-dependent correction terms, diagnosing and repairing corrupted inputs externally around a frozen locomotion policy. On simulated Go2, offline diagnosis raises walking success from 259/640 to 429/640, while online repair reaches 382/640, with no repair triggered in 64 held-out fault-free episodes. The authors note that the evidence remains limited to a single policy and a partly screened simulated fault set, and that robot foundation model and hardware validation have not yet been conducted.

Part of the event: Online Sensor Diagnosis and Repair for Black-Box Robot Policy Failures

This page provides a summary and source link only.