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Despina-Ekaterini Argiropoulos

Publications and source records attributed to Despina-Ekaterini Argiropoulos.

3 recordsLinked to original sources

Low-Frequency Shortcuts in Texture-Driven Visual Learning

Neural networks suffer from shortcut learning, where learned features generalize well to the training set but not to in-distribution (ID) or out-of-distribution (OOD) test sets. Existing studies are all based on a few standard benchmarks, which are shape-driven. Numerous application domains, however, are texture-driven. In this work, we present shortcut learning analysis for texture-driven domains and compare it with that of a standard benchmark. We show that texture-driven domains suffer from low-frequency shortcuts. They make the majority of their decisions based on a few low-frequency components (LFCs) with a skewed spectral behavior, despite that higher-frequency components (HFCs) have higher predictive power. Pruning LFCs from training and test sets mitigates the shortcut and provides a more balanced spectral behavior, improving the ID accuracy by up to 10% and OOD accuracy by up to 40% under algorithmic and real-world domain shifts. We show that general-purpose and domain-specific foundation models can also suffer from low-frequency shortcuts. While large models can mitigate the shortcuts, they incur a high computational cost and may result in a significantly lower accuracy than shortcut-pruned from-scratch trained small models. We show that reduced image resolutions amplify the degree of shortcuts; large frequency-transformation block sizes capture low-frequency shortcuts better than small block sizes; and, low-frequency shortcuts persist across different color spaces. Our findings provide valuable insights, which we hope will be useful for practitioners working on new, understudied domains.

cs.CV↗

Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains

Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the supporting surface, while maintaining its stability and controllability. In order to ensure the operation of the robot under these conditions, one has to account for the possibility of unstable contact of the legs that arises when the robot operates on partially or globally slippery terrains. In this work, we propose an adaptive trajectory tracking controller for quadruped robots, which involves two prioritized layers of adaptation for avoiding possible slippage of one or multiple legs. The adaptive framework is evaluated through simulations and validated through experiments.

cs.RO↗

Probabilistic Contact State Estimation for Legged Robots using Inertial Information

Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging problem and is typically addressed by exploiting force measurements, joint encoders and/or robot kinematics and dynamics. In contrast to most state of the art approaches, the current work introduces a novel probabilistic method for estimating the contact state based solely on proprioceptive sensing, as it is readily available by Inertial Measurement Units (IMUs) mounted on the robot's end effectors. Capitalizing on the uncertainty of IMU measurements, our method estimates the probability of stable contact. This is accomplished by approximating the multimodal probability density function over a batch of data points for each axis of the IMU with Kernel Density Estimation. The proposed method has been extensively assessed against both real and simulated scenarios on bipedal and quadrupedal robotic platforms such as ATLAS, TALOS and Unitree's GO1.

cs.RO↗