Bringing motion taxonomies to continuous domains via GPLVM on hyperbolic manifolds

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, manipulation skills, and whole-body support poses. Despite substantial efforts devoted to design their hierarchy and underlying categories, their use remains limited. This may be attributed to the lack of computational models that fill the gap between the discrete hierarchical structure of the taxonomy and the high-dimensional heterogeneous data associated to its categories. To overcome this …

abstractions continuous cs.lg cs.ro design domains environment hierarchical human humans manipulation serve skills support taxonomies via