Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning
Noémie Jaquier,Leonel Rozo,Tamim Asfour,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 that inherently carry geometric constraints, such as the unit-norm condition of quaternions representing rigid-body orientations or the positive definiteness of stiffness and manipulability ellipsoids. Handling such geom...
