3 papers
cs.RO2026
Let the Dynamics Flow: Stable Flow Matching Dynamical Systems
Rodrigo Pérez-Dattari, Francisco Leiva, Andrea Testa +3
Flow matching has recently emerged as a powerful approach for imitation learning, enabling scalable, expressive, and multimodal motion policies. However, when modeling these polici…
cs.LG2026
Contact Wasserstein Geodesics for Non-Conservative Schrödinger Bridges
Andrea Testa, Søren Hauberg, Tamim Asfour +1
The Schrödinger Bridge provides a principled framework for modeling stochastic processes between distributions; however, existing methods are limited by energy-conservation assump…
cs.RO2025
Geometric Contact Flows: Contactomorphisms for Dynamics and Control
Andrea Testa, Søren Hauberg, Tamim Asfour +1
Accurately modeling and predicting complex dynamical systems, particularly those involving force exchange and dissipation, is crucial for applications ranging from fluid dynamics t…