{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,22]],"date-time":"2026-02-22T06:02:47Z","timestamp":1771740167859,"version":"3.50.1"},"reference-count":47,"publisher":"IEEE","license":[{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100018693","name":"Horizon Europe","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100018693","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2024,5,13]]},"DOI":"10.1109\/icra57147.2024.10611701","type":"proceedings-article","created":{"date-parts":[[2024,8,8]],"date-time":"2024-08-08T17:51:05Z","timestamp":1723139465000},"page":"242-249","source":"Crossref","is-referenced-by-count":6,"title":["Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning"],"prefix":"10.1109","author":[{"given":"No\u00e9mie","family":"Jaquier","sequence":"first","affiliation":[{"name":"Institute for Anthropomatics and Robotics,Karlsruhe Institute of Technology,Karlsruhe,Germany"}]},{"given":"Leonel","family":"Rozo","sequence":"additional","affiliation":[{"name":"Bosch Center for Artificial Intelligence,Renningen,Germany"}]},{"given":"Tamim","family":"Asfour","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics,Karlsruhe Institute of Technology,Karlsruhe,Germany"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/tmi.2004.831793"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2008.75"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103761"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2020.3010633"},{"key":"ref5","first-page":"2503","article-title":"Riemannian continuous normalizing flows","volume-title":"Neural Information Processing Systems (NeurIPS)","author":"Mathieu","year":"2020"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920946815"},{"key":"ref7","first-page":"1211","article-title":"Learning Riemannian stable dynamical systems via diffeomorphisms","volume-title":"Conference on Robot Learning (CoRL)","volume":"205","author":"Zhang"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2201-7"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-91755-9"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s10851-006-6228-4"},{"issue":"4","key":"ref11","first-page":"215","article-title":"Les \u00e9l\u00e9ments al\u00e9atoires de nature quelconque dans un espace distanci\u00e9","volume":"10","author":"Fr\u00e9chet","year":"1948","journal-title":"Annales de l\u2019Institut Henry Poincar\u00e9"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2016.2597321"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574708004475"},{"key":"ref14","article-title":"Programming by demonstration on Riemannian manifolds","volume-title":"PhD thesis","author":"Zeestraten","year":"2018"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.5244\/c.28.91"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1017\/9781009166164"},{"key":"ref17","volume-title":"Introduction to smooth manifolds","author":"Lee","year":"2013"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-016-0941-2"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/icip.2012.6466899"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/access.2022.3217800"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.3934\/dcdsb.2021088"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.3390\/math10071117"},{"key":"ref23","article-title":"A micro Lie theory for state estimation in robotics","author":"Sol\u00e0","year":"2018"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2022.3219019"},{"issue":"2","key":"ref25","first-page":"283","article-title":"Optimization over geodesics for exact principal geodesic analysis","volume-title":"Advances in Computational Mathematics","volume":"40","author":"Sommer","year":"2014"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00045"},{"key":"ref27","first-page":"171","article-title":"Geodesic regression and the theory of least squares on Riemannian manifolds","volume-title":"Intl. Journal on Computer Vision","volume":"105","author":"Fletcher","year":"2013"},{"key":"ref28","first-page":"2705","article-title":"Multivariate general linear models (MGLM) on Riemannian manifolds with applications to statistical analysis of diffusion weighted images","volume-title":"Conf. on Computer Vision and Pattern Recognition (CVPR)","author":"Kim"},{"key":"ref29","first-page":"373","article-title":"Orientation probabilistic movement primitives on Riemannian manifolds","volume-title":"Conference on Robot Learning (CoRL)","volume":"164","author":"Rozo"},{"key":"ref30","first-page":"159","volume-title":"Distributions on Spheres","author":"Mardia","year":"1999"},{"key":"ref31","article-title":"Wrapped distributions on homogeneous Riemannian manifolds","author":"Galaz-Garcia","year":"2022"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1201\/b16018"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2011.2159412"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.04.006"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/urai.2017.7992901"},{"key":"ref36","first-page":"927","article-title":"A physically-consistent bayesian non-parametric mixture model for dynamical system learning","volume-title":"Conference on Robot Learning (CoRL)","author":"Figueroa"},{"key":"ref37","first-page":"630","article-title":"Euclideanizing flows: Diffeomorphic reduction for learning stable dynamical systems","volume-title":"Conference on Learning for Dynamics and Control (L4DC)","author":"Rana"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2022.3140677"},{"issue":"57","key":"ref39","first-page":"1","article-title":"Normalizing flows for probabilistic modeling and inference","volume-title":"Journal of Machine Learning Research","volume":"22","author":"Papamakarios","year":"2021"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1515\/pjbr-2015-0002"},{"key":"ref41","first-page":"17 548","article-title":"Neural manifold ordinary differential equations","volume-title":"Neural Information Processing Systems (NeurIPS)","author":"Lou","year":"2020"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/robot.2002.1014739"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/irds.2002.1041514"},{"key":"ref44","first-page":"16","article-title":"Nonlinear second-order dynamical systems on Riemannian manifolds: Damped oscillators","volume-title":"Intl. Conf. on Modeling, Simulation and Visualization Methods (MSV)","author":"Fiori"},{"key":"ref45","first-page":"233","article-title":"Bayesian optimization meets Riemannian manifolds in robot learning","volume-title":"Conference on Robot Learning (CoRL)","volume":"100","author":"Jaquier"},{"key":"ref46","article-title":"Geometry-aware Bayesian optimization in robotics using Riemannian Mat\u00e9rn kernels","volume-title":"Conference on Robot Learning (CoRL)","volume":"164","author":"Jaquier"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2023.3322654"}],"event":{"name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","location":"Yokohama, Japan","start":{"date-parts":[[2024,5,13]]},"end":{"date-parts":[[2024,5,17]]}},"container-title":["2024 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/10609961\/10609862\/10611701.pdf?arnumber=10611701","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,11]],"date-time":"2024-08-11T04:20:35Z","timestamp":1723350035000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10611701\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,13]]},"references-count":47,"URL":"https:\/\/doi.org\/10.1109\/icra57147.2024.10611701","relation":{},"subject":[],"published":{"date-parts":[[2024,5,13]]}}}