Web: http://arxiv.org/abs/2203.01171

May 12, 2022, 1:10 a.m. | Boyang Ti, Yongsheng Gao, Jie Zhao, Sylvain Calinon

stat.ML updates on arXiv.org arxiv.org

Daily manipulation tasks are characterized by regular characteristics
associated with the task structure, which can be described by multiple
geometric primitives related to actions and object shapes. Such geometric
descriptors can not be expressed only in Cartesian coordinate systems. In this
paper, we propose a learning approach to extract the optimal representation
from a dictionary of coordinate systems to represent an observed movement. This
is achieved by using an extension of Gaussian distributions on Riemannian
manifolds, which is used to …

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