8 citations · 19 across the 19 of their papers we have counts for
8 papers · 1 filter
An Empirical Study and Open Testbed for Federated Fine-Tuning of Vision-Language-Action Models
Zhekai Duan, Kevin Ziyang Xie, Xinyu Tan +5
Adapting a pretrained Vision-Language-Action (VLA) model to a new robot, environment, or task requires demonstrations that are collected locally and often discarded. Federated lear…
Seeing is Not Believing: Breaking the Physical-to-Digital Trust Boundary in Robotics
Leming Shen, Shikai Geng, Yuanqing Zheng +1
In multi-robot collaboration, task handovers rely on downstream verifiers performing remote attestation, which inspects sensor telemetry to ensure a robot's physical behavior stric…
Decoupling the Declarative from the Procedural in Vision-Language-Action Models
Nikolaos Tsagkas, Andreas Sochopoulos, Chris Xiaoxuan Lu +2
Deploying generalist robotic agents in the real world requires transferable skills. Specifically, a policy trained to clone a behavior from object-specific demonstrations must gene…
Attentive Feature Aggregation or: How Policies Learn to Stop Worrying about Robustness and Attend to Task-Relevant Visual Cues
Nikolaos Tsagkas, Andreas Sochopoulos, Duolikun Danier +4
The adoption of pre-trained visual representations (PVRs), leveraging features from large-scale vision models, has become a popular paradigm for training visuomotor policies. Howev…
Fast ECoT: Efficient Embodied Chain-of-Thought via Thoughts Reuse
Zhekai Duan, Yuan Zhang, Shikai Geng +3
Embodied Chain-of-Thought (ECoT) reasoning enhances vision-language-action (VLA) models by improving performance and interpretability through intermediate reasoning steps. However,…
The Temporal Trap: Entanglement in Pre-Trained Visual Representations for Visuomotor Policy Learning
Nikolaos Tsagkas, Andreas Sochopoulos, Duolikun Danier +2
The integration of pre-trained visual representations (PVRs) has significantly advanced visuomotor policy learning. However, effectively leveraging these models remains a challenge…
Click to Grasp: Zero-Shot Precise Manipulation via Visual Diffusion Descriptors
Nikolaos Tsagkas, Jack Rome, Subramanian Ramamoorthy +2
Precise manipulation that is generalizable across scenes and objects remains a persistent challenge in robotics. Current approaches for this task heavily depend on having a signifi…
3-D Motion Capture of an Unmodified Drone with Single-chip Millimeter Wave Radar
Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang +2
Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward researc…