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This article presents an overview of robot learning and adaptive control applications that can benefit from a joint use of Riemannian geometry and probabilistic representations. The roles of Riemannian manifolds, geodesics and parallel transport in robotic ...
Numerical continuation in the context of optimization can be used to mitigate convergence issues due to a poor initial guess. In this work, we extend this idea to Riemannian optimization problems, that is, the minimization of a target function on a Riemann ...
We describe the first gradient methods on Riemannian manifolds to achieve accelerated rates in the non-convex case. Under Lipschitz assumptions on the Riemannian gradient and Hessian of the cost function, these methods find approximate first-order critical ...
The purpose of this thesis is to provide an intrinsic proof of a Gauss-Bonnet-Chern formula for complete Riemannian manifolds with finitely many conical singularities and asymptotically conical ends. A geometric invariant is associated to the link of both ...
We prove that the real cohomology of semi-simple Lie groups admits boundary values, which are measurable cocycles on the Furstenberg boundary. This generalises known invariants such as the Maslov index on Shilov boundaries, the Euler class on projective sp ...
Let M be a C-2-smooth Riemannian manifold with boundary and N a complete C-2-smooth Riemannian manifold. We show that each stationary p-harmonic mapping u: M -> N, whose image lies in a compact subset of N, is locally C-1,C-alpha for some alpha is an eleme ...
In this paper, we provide a simple pedagogical proof of the existence of covariant renormalizations in Euclidean perturbative quantum field theory on closed Riemannian manifolds, following the Epstein–Glaser philosophy. We rely on a local method that allow ...
Conjugation spaces are equipped with an involution such that the fixed points have the same mod 2 cohomology (as a graded vector space, a ring, and even an unstable algebra) but with all degrees divided by 2, generalizing the classical examples of complex ...
We consider minimizing a nonconvex, smooth function f on a Riemannian manifold M. We show that a perturbed version of Riemannian gradient descent algorithm converges to a second-order stationary point (and hence is able to escape saddle points on the manif ...
The Cartan formula encodes the relationship between the cup product and the action of the Steenrod algebra in F-p-cohomology. In this work, we present an effective proof of the Cartan formula at the cochain level when the field is F-2. More explicitly, for ...