相关论文: Reactive Motion Generation on Learned Riemannian M…

For robots to work alongside humans and perform in unstructured environments, they must learn new motion skills and adapt them to unseen situations on the fly. This demands learning models that capture relevant motion patterns, while…

The generation of energy-efficient and dynamic-aware robot motions that satisfy constraints such as joint limits, self-collisions, and collisions with the environment remains a challenge. In this context, Riemannian geometry offers…

Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…

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 RiemannianFlow, a deep generative model that allows robots to learn complex and stable skills evolving on Riemannian manifolds. Examples of Riemannian data in robotics include stiffness (symmetric and positive…

Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For robots with a useful number of DoF, these geometric…

This article presents an overview of robot learning and adaptive control applications that can benefit from a joint use of Riemannian geometry and probabilistic representations. The roles of Riemannian manifolds, geodesics and parallel…

Dexterous and autonomous robots should be capable of executing elaborated dynamical motions skillfully. Learning techniques may be leveraged to build models of such dynamic skills. To accomplish this, the learning model needs to encode a…

Deep generative models learn a mapping from a low dimensional latent space to a high-dimensional data space. Under certain regularity conditions, these models parameterize nonlinear manifolds in the data space. In this paper, we investigate…

Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional…

Riemannian geometry is a mathematical field which has been the cornerstone of revolutionary scientific discoveries such as the theory of general relativity. Despite early uses in robot design and recent applications for exploiting data with…

In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…

We present a novel motion generation approach for robot arms, with high degrees of freedom, in complex settings that can adapt online to obstacles or new via points. Learning from Demonstration facilitates rapid adaptation to new tasks and…

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.…

Steering a language model - intervening on its internal activations to change downstream behaviour - has recently expanded beyond linear interpolation to nonlinear methods such as angular and kernelized steering, which define intervention…

In this paper, we propose an approach to learn stable dynamical systems evolving on Riemannian manifolds. The approach leverages a data-efficient procedure to learn a diffeomorphic transformation that maps simple stable dynamical systems…

Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…

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…

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…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…