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
2 Pith papers cite this work. Polarity classification is still indexing.
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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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Improved Representation of Matrix Lie Group Operations through Tensor Notation
Introduces tensor notation with Einstein summation to clarify matrix Lie group derivatives and operations in gradient-based estimation frameworks.