3 papers
cs.RO2024
Bringing motion taxonomies to continuous domains via GPLVM on hyperbolic manifolds
Noémie Jaquier, Leonel Rozo, Miguel González-Duque +2
Human motion taxonomies serve as high-level hierarchical abstractions that classify how humans move and interact with their environment. They have proven useful to analyse grasps,…
cs.RO2024
Riemannian Flow Matching Policy for Robot Motion Learning
Max Braun, Noémie Jaquier, Leonel Rozo +1
We introduce Riemannian Flow Matching Policies (RFMP), a novel model for learning and synthesizing robot visuomotor policies. RFMP leverages the efficient training and inference ca…
cs.RO2024
Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning
Noémie Jaquier, Leonel Rozo, Tamim Asfour
In the realm of robotics, numerous downstream robotics tasks leverage machine learning methods for processing, modeling, or synthesizing data. Often, this data comprises variables…