4 papers
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…
Human-in-the-loop Optimisation in Robot-assisted Gait Training
Andreas Christou, Andreas Sochopoulos, Elliot Lister +1
Wearable robots offer a promising solution for quantitatively monitoring gait and providing systematic, adaptive assistance to promote patient independence and improve gait. Howeve…
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…
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…