Gaussians on Riemannian Manifolds for Robot Learning and Adaptive Control
Graph Chatbot
Chattez avec Graph Search
Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.
AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.
We derive a central limit theorem for the mean-square of random waves in the high-frequency limit over shrinking sets. Our proof applies to any compact Riemannian manifold of arbitrary dimension, thanks to the universality of the local Weyl law. The key te ...
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 ...
We present two Lie algebroids linked to the construction of the linearizing output of an input affine nonlinear system. The algorithmic development of the linearizing output proceeds inductively, and each stage has two structures, namely a codimension one ...
Two Lie algebroids are presented that are linked to the construction of the linearizing output of an affine in the input nonlinear system.\ The algorithmic construction of the linearizing output proceeds inductively, and each stage has two structures, name ...
We show that the configuration spaces of a product of parallelizable manifolds may be recovered from those of the factors as the Boardman-Vogt tensor product of right modules over the operads of little cubes of the appropriate dimension. We also discuss an ...
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 ...
Modular multilevel converter current scalability challenge can be significantly alleviated by connecting its branches in parallel. In case a predefined submodule design is to be used with the aim of serving a certain span of applications, methods of achiev ...
IEEE2019
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 ...
In the context of robotic control, synergies can form an elementary unit of behavior. By specifying task-dependent coordination behaviors at a low control level, one can achieve task-specific disturbance rejection. In this work we present an approach to le ...
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 ...
