Author

Enrico Pallotta

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Preprint Sep 2026

Generative Uncertainty as a Self-supervised Signal for Semantic Similarity Learning

A novel self-supervised approach that leverages generative uncertainty from text-to-video (T2V) diffusion models to learn semantic similarity without human annotations to identify stable semantic features within existing pretrained representations, such as VideoMAE and V-JEPA.

Enrico Pallotta, Sina Raoufi, Lars Doorenbos et al. · 0 citations

Jul 2026

ContactFlow: A video action conditioning that transfers across embodiments

This work proposes Contact Flow, an embodiment-agnostic action representation that encodes manipulation through the trajectory of 3D contact points between an actor and a target object, and integrates this model into a propose-imagine-verify-act pipeline, where generated rollouts are assessed by a vision-language model...

Sami Azirar, Enrico Pallotta, Jan Nogga et al. · arXiv.org · 1 citation