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 onSE(3)transformation parameterizations and on-manifold optimization.arXiv preprint arXiv:2103.15980, 2021
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Introduces tensor notation with Einstein summation to clarify matrix Lie group derivatives and operations in gradient-based estimation frameworks.
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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.