相关论文: Learning Riemannian Manifolds for Geodesic Motion …

Representing a manifold of very high-dimensional data with generative models has been shown to be computationally efficient in practice. However, this requires that the data manifold admits a global parameterization. In order to represent…

An increasingly common viewpoint is that protein dynamics data sets reside in a non-linear subspace of low conformational energy. Ideal data analysis tools for such data sets should therefore account for such non-linear geometry. The…

Non-Euclidean constraints are inherent in many kinds of data in computer vision and machine learning, typically as a result of specific invariance requirements that need to be respected during high-level inference. Often, these geometric…

Meta-learning, or "learning to learn," aims to enable models to quickly adapt to new tasks with minimal data. While traditional methods like Model-Agnostic Meta-Learning (MAML) optimize parameters in Euclidean space, they often struggle to…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

Motion planning with constraints is an important part of many real-world robotic systems. In this work, we study manifold learning methods to learn such constraints from data. We explore two methods for learning implicit constraint…

Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…

In recent years, manifold learning has become increasingly popular as a tool for performing non-linear dimensionality reduction. This has led to the development of numerous algorithms of varying degrees of complexity that aim to recover man…

Data-driven Riemannian geometry has emerged as a powerful tool for interpretable representation learning, offering improved efficiency in downstream tasks. Moving forward, it is crucial to balance cheap manifold mappings with efficient…

Riemannian manifolds have been widely employed for video representations in visual classification tasks including video-based face recognition. The success mainly derives from learning a discriminant Riemannian metric which encodes the…

Mapping people dynamics is a crucial skill for robots, because it enables them to coexist in human-inhabited environments. However, learning a model of people dynamics is a time consuming process which requires observation of large amount…

Latent variable models are powerful tools for learning low-dimensional manifolds from high-dimensional data. However, when dealing with constrained data such as unit-norm vectors or symmetric positive-definite matrices, existing approaches…

Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion…

Measuring the similarity between data points often requires domain knowledge, which can in parts be compensated by relying on unsupervised methods such as latent-variable models, where similarity/distance is estimated in a more compact…

Distance functions are crucial in robotics for representing spatial relationships between a robot and its environment. They provide an implicit, continuous, and differentiable representation that integrates seamlessly with control,…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

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 this paper, we propose a method to learn a minimizing geodesic within a data manifold. Along the learned geodesic, our method can generate high-quality interpolations between two given data samples. Specifically, we use an autoencoder…

Learning is a fundamental characteristic of living systems, enabling them to comprehend their environments and make informed decisions. These decision-making processes are inherently influenced by available information about their…

Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…