LEAP: Learning Emergent Active Perception for Quadruped Navigation

arXiv:2609.17628 · cs.RO, cs.CV · Submitted 2026-09-15 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-15

Updated: 2026-09-15

Terminology

Active Perception — 14× in this paper · explained in 2 episodes
Actor — 11× in this paper · explained in 3 episodes
Reinforcement Learning — 6× in this paper · explained in 4 episodes
Transformer — 6× in this paper · explained in 2 episodes
Calibration — 4× in this paper · explained in 7 episodes
Ablation — 3× in this paper · explained in 1 episode
Action Space — 3× in this paper · explained in 1 episode
Steering — 3× in this paper · explained in 2 episodes
Tokenization — 3× in this paper · explained in 2 episodes
Active Vision — 2× in this paper · explained in 1 episode
Decode — 2× in this paper · explained in 2 episodes
Embeddings — 2× in this paper · explained in 2 episodes
Reward Shaping — 2× in this paper · explained in 2 episodes
Robustness — 2× in this paper · explained in 5 episodes
Trace — 2× in this paper · explained in 2 episodes
Active SLAM — 1× in this paper · explained in 1 episode
Adam — 1× in this paper · explained in 2 episodes
Analyzer — 1× in this paper · explained in 1 episode
Core — 1× in this paper · explained in 2 episodes
Generalized Advantage Estimation — 1× in this paper
Information Gain — 1× in this paper · explained in 2 episodes
Partially Observable Markov Decision Process — 1× in this paper
Reward Function — 1× in this paper · explained in 2 episodes
Sparse Attention — 1× in this paper · explained in 5 episodes

Sources

Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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