# Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion

arXiv: https://arxiv.org/abs/2409.03332 · HTML: https://mlsanity.com/paper/2409.03332/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Sep 2024.

## Built on by (most cited first, 1 of 1)

- [Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds](https://mlsanity.com/paper/2503.08997/) (2025)

## Abstract (arXiv)

With the rising focus on quadrupeds, a generalized policy capable of handling different robot models and sensor inputs becomes highly beneficial. Although several methods have been proposed to address different morphologies, it remains a challenge for learning-based policies to manage various combinations of proprioceptive information. This paper presents Masked Sensory-Temporal Attention (MSTA), a novel transformer-based mechanism with masking for quadruped locomotion. It employs direct sensor-level attention to enhance the sensory-temporal understanding and handle different combinations of sensor data, serving as a foundation for incorporating unseen information. MSTA can effectively understand its states even with a large portion of missing information, and is flexible enough to be deployed on physical systems despite the long input sequence.