Core Concepts
Riemannian manifolds in robot learning are often misapplied through the "single tangent space fallacy," leading to distorted results and misinterpretations.
Abstract
I. Introduction
Robot learning tasks leverage machine learning methods.
Incorporating tools from differential geometry is crucial.
Riemannian manifolds are used to model geometric constraints.
The "single tangent space fallacy" simplifies computations but leads to flawed results.
II. Background
Riemannian manifolds defined with tangent spaces.
Tangent spaces provide local linear approximations.
Riemannian Gaussian Distributions (RGD) defined.
Maximum likelihood estimation used for RGD parameters.
III. Learning Riemannian Data Distributions
Density estimation on spheres and SPD manifolds.
Euclidean GMM, Tangent GMM, and Riemannian GMM compared.
Riemannian GMM consistently outperforms other models.
IV. The Single Tangent Space Fallacy
Explanations of five core misconceptions.
Fallacies of single tangent space approaches explained.
Distortions and limitations of using a single tangent space.
V. Experiments
Density estimation and DS learning experiments conducted.
Riemannian GMM outperforms Euclidean and Tangent GMMs.
Learning DS on Riemannian manifolds shows superior performance.
Importance of avoiding the single tangent space fallacy highlighted.
VI. Take Home Messages
Good practices for operating with Riemannian manifolds in robot learning.
Designing coordinate-invariant algorithms and leveraging multiple tangent spaces recommended.
Sound Riemannian approaches unlock the full potential of robot learning.
Stats
"Riemannian manifolds emerge as a powerful mathematical framework."
"Riemannian Gaussian distribution depends on mean and covariance."
"Riemannian GMM consistently outperforms Euclidean and Tangent GMMs."
Quotes
"Riemannian manifolds emerge as a powerful mathematical framework."
"Riemannian GMM consistently outperforms Euclidean and Tangent GMMs."