Bringing robotics taxonomies to continuous domains via GPLVM on hyperbolic manifolds. (arXiv:2210.01672v1 [cs.RO])

Robotic taxonomies have appeared 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 the efforts devoted to design their hierarchy and underlying
categories, their use in application fields remains scarce. 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. …

arxiv continuous robotics taxonomies