3 papers
math.GR2026
Rotational Trajectory Synopsis Groups
Gregory S. Chirikjian, Taeyoung Lee
We construct finite-dimensional Lie-group summaries of based rotational paths that retain the exact terminal attitude and selected iterated angular-velocity integrals. These summar…
math.PR2026
Global Tensor Field Formulation of the Fokker-Planck Equation on Riemannian Manifolds
Taeyoung Lee, Gregory S. Chirikjian
This paper presents a global, coordinate-free formulation of the Fokker-Planck equation on Riemannian manifolds. In the Stratonovich formulation, the infinitesimal generator is exp…
cs.RO2025
INGRID: Intelligent Generative Robotic Design Using Large Language Models
Guanglu Jia, Ceng Zhang, Gregory S. Chirikjian
The integration of large language models (LLMs) into robotic systems has accelerated progress in embodied artificial intelligence, yet current approaches remain constrained by exis…