LieEDNN embeds general Lie groups into neural dynamics using adjoint actions and metric projections to achieve stable learnable trajectories on manifolds like SE(3) for manipulator planning.
A Tutorial on SE(3) Transformation Parameterizations and On-manifold Optimization
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Planning Neural Dynamics with Lie Group Embedding through Supervised Projective Manifold Learning
LieEDNN embeds general Lie groups into neural dynamics using adjoint actions and metric projections to achieve stable learnable trajectories on manifolds like SE(3) for manipulator planning.