Key takeaways:
1. Domain randomization is NOT sufficient for robustness
2. Multi-modality attacks are much stronger
3. Adversaries with exteroception can smartly leverage terrains
4. AI beats human robot experts on attack strategies
5. SOTA robust control policy, which won DARPA SubT Challenge, is still fragile against even mild attack sequences
6. Control weakness can be covered by training together with adversarial attacks