Concept

Riemannian manifold

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Geometry-aware Robot Manipulability Transfer

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Humans naturally vary their body posture in order to quickly move or apply forces along specific directions. Such posture changes are strongly linked to the specific requirements of the task at hand, and therefore play a relevant role on task performance. ...

2018

Geometric spects A of Similarity Problems

Peter Clemens Schlicht

This article presents a geometric approach to some similarity problems involving metric arguments in the non-positively curved space of positive invertible operators of an operator algebra and the canonical isometric action by invertible elements on the co ...

OXFORD UNIV PRESS2018

Type II solutions Type II blow up solutions with optimal stability properties for the critical focussing nonlinear wave equation on $\R^{3+1}$

Joachim Krieger, Stefano Francesco Burzio

We show that the finite time type II blow up solutions for the energy critical nonlinear wave equation [ \Box u = -u^5 ] on

\R^{3+1}

constructed in \cite{KST}, \cite{KS1} are stable along a co-dimension one Lipschitz manifold of data perturbations in a ...

2018

Universality of jamming of nonspherical particles

Matthieu Wyart, Carolina Brito Carvalho dos Santos

Amorphous packings of nonspherical particles such as ellipsoids and spherocylinders are known to be hypostatic: The number of mechanical contacts between particles is smaller than the number of degrees of freedom, thus violating Maxwell's mechanical stabil ...

NATL ACAD SCIENCES2018

The complexity of error metrics

Mathias Soeken

Approximate computing exploits the fact that many applications do not require the results to be exact but not to exceed a threshold in a given error metric. Algorithms in approximate computing require to compute the error of the approximation in order to m ...

ELSEVIER SCIENCE BV2018

The Myers-Steenrod Theorem For Finsler Manifolds Of Low Regularity

Marc Troyanov

We prove a version of Myers-Steenrod's theorem for Finsler manifolds under the minimal regularity hypothesis. In particular we show that an isometry between C-k,C-alpha-smooth (or partially smooth) Finsler metrics, with k + alpha > 0, k is an element of N ...

Amer Mathematical Soc2017

Stochastic Composite Least-Squares Regression with Convergence Rate O(1/n)

Nicolas Henri Bernard Flammarion

We consider the minimization of a function deﬁned on a Riemannian manifold M accessible only through unbiased estimates of its gradients. We develop a geometric framework to transform a sequence of slowly converging iterates generated from stochastic gradi ...

2017

An Approach for Imitation Learning on Riemannian Manifolds

Sylvain Calinon

In imitation learning, multivariate Gaussians are widely used to encode robot behaviors. Such approaches do not provide the ability to properly represent end-effector orientation, as the distance metric in the space of orientations is not Euclidean. In thi ...

2017

Detecting Anisotropic Inclusions Through EIT

Jan Cristina

We study the evolution equation where is the Dirichlet-Neumann operator of a decreasing family of Riemannian manifolds with boundary . We derive a lower bound for the solution of such an equation, and apply it to a quantitative density estimate for the res ...

Springer2017

Improving hand and wrist activity detection using tactile sensors and tensor regression methods on Riemannian manifolds

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Simultaneous and proportional control of a prosthetic hand and wrist is still a controversial issue, although giant steps have lately been made in this direction. In this paper, we study the application of a novel machine learning method to the problem, wi ...

2017

Type II solutions Type II blow up solutions with optimal stability properties for the critical focussing nonlinear wave equation on $\R^{3+1}$

Joachim Krieger, Stefano Francesco Burzio

We show that the finite time type II blow up solutions for the energy critical nonlinear wave equation [ \Box u = -u^5 ] on

\R^{3+1}

constructed in \cite{KST}, \cite{KS1} are stable along a co-dimension one Lipschitz manifold of data perturbations in a ...

2018