SO-TA replaces standard attention with optimal-transport alignment across vision, force/torque, and proprioception to improve diffusion-policy performance on real-robot insertion and wiping tasks.
Sinkformers: Transformers with doubly stochastic attention,
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Spacetime Optimal-Transport Attention for Visuo-Haptic Imitation Learning of Contact-Rich Manipulation
SO-TA replaces standard attention with optimal-transport alignment across vision, force/torque, and proprioception to improve diffusion-policy performance on real-robot insertion and wiping tasks.