6 papers
Optimal Transport Q-Learning for Flow Policy Steering and Acceleration
Andreas Sochopoulos, Esmeralda S. Whitammer, Nikolaos Tsagkas +3
Diffusion and flow policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions, especially…
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…
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…
Learning Precise Affordances from Egocentric Videos for Robotic Manipulation
Gen Li, Nikolaos Tsagkas, Jifei Song +4
Affordance, defined as the potential actions that an object offers, is crucial for embodied AI agents. For example, such knowledge directs an agent to grasp a knife by the handle f…
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings
Andreas Sochopoulos, Nikolay Malkin, Nikolaos Tsagkas +3
Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. Ho…