Artificial Foveated Perception for Mitigating Shortcut Learning in Robotic Foundation Models

arXiv:2607.10655 · cs.RO · Submitted 2026-07-12 · Read on arXiv

cs.RO

Submitted: 2026-07-12

Updated: 2026-10-12

Terminology

• Foundation Model — 5× in this paper · explained in 3 episodes
• Foundation Models — 5× in this paper · explained in 7 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Artificial Foveated Perception — 2× in this paper
• Grounding — 2× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes

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