相关论文: Geometry-aware Dynamic Movement Primitives

The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…

Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer from a teacher to a learner - can advance emulation of…

Movement generation, and especially generalisation to unseen situations, plays an important role in robotics. Different types of movement generation methods exist such as spline based methods, dynamical system based methods, and methods…

Nowadays, industries are showing a growing interest in human-robot collaboration, particularly for shared tasks. This requires intelligent strategies to plan a robot's motions, considering both task constraints and human-specific factors…

Circular and non-flat data distributions are prevalent across diverse domains of data science, yet their specific geometric structures often remain underutilized in machine learning frameworks. A principled approach to accounting for the…

We introduce Riemannian Flow Matching Policies (RFMP), a novel model for learning and synthesizing robot visuomotor policies. RFMP leverages the efficient training and inference capabilities of flow matching methods. By design, RFMP…

Covariance matrices have attracted attention for machine learning applications due to their capacity to capture interesting structure in the data. The main challenge is that one needs to take into account the particular geometry of the…

Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…

Symmetric positive definite~(SPD) matrices have shown important value and applications in statistics and machine learning, such as FMRI analysis and traffic prediction. Previous works on SPD matrices mostly focus on discriminative models,…

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for…

Representations in the form of Symmetric Positive Definite (SPD) matrices have been popularized in a variety of visual learning applications due to their demonstrated ability to capture rich second-order statistics of visual data. There…

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…

Deep neural networks for learning Symmetric Positive Definite (SPD) matrices are gaining increasing attention in machine learning. Despite the significant progress, most existing SPD networks use traditional Euclidean classifiers on an…

Movement primitives are trainable parametric models that reproduce robotic movements starting from a limited set of demonstrations. Previous works proposed simple linear models that exhibited high sample efficiency and generalization power…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Human motion generation is often learned in Euclidean spaces, although valid motions follow structured non-Euclidean geometry. We present Riemannian Motion Generation (RMG), a unified framework that represents motion on a product manifold…

In recent decades, advancements in motion learning have enabled robots to acquire new skills and adapt to unseen conditions in both structured and unstructured environments. In practice, motion learning methods capture relevant patterns and…

When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…

Bridging the sim-to-real gap remains a fundamental challenge in robotics, as accurate dynamic parameter estimation is essential for reliable model-based control, realistic simulation, and safe deployment of manipulators. Traditional…

Riemannian neural networks, which extend deep learning techniques to Riemannian spaces, have gained significant attention in machine learning. To better classify the manifold-valued features, researchers have started extending Euclidean…