3 papers
cs.CV2026
ViTaPEs: Visuotactile Position Encodings for Cross-Modal Alignment in Multimodal Transformers
Fotios Lygerakis, Ozan Ãzdenizci, Elmar Rückert
Tactile sensing provides local essential information that is complementary to visual perception, such as texture, compliance, and force. Despite recent advances in visuotactile rep…
cs.LG2024
ED-VAE: Entropy Decomposition of ELBO in Variational Autoencoders
Fotios Lygerakis, Elmar Rueckert
Traditional Variational Autoencoders (VAEs) are constrained by the limitations of the Evidence Lower Bound (ELBO) formulation, particularly when utilizing simplistic, non-analytic,…
cs.RO2024
M2CURL: Sample-Efficient Multimodal Reinforcement Learning via Self-Supervised Representation Learning for Robotic Manipulation
Fotios Lygerakis, Vedant Dave, Elmar Rueckert
One of the most critical aspects of multimodal Reinforcement Learning (RL) is the effective integration of different observation modalities. Having robust and accurate representati…