{"id":"https://openalex.org/W4405786077","doi":"https://doi.org/10.1109/iros58592.2024.10801521","title":"Riemannian Flow Matching Policy for Robot Motion Learning","display_name":"Riemannian Flow Matching Policy for Robot Motion Learning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786077","doi":"https://doi.org/10.1109/iros58592.2024.10801521"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111150368","display_name":"Max Braun","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Max Braun","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064146907","display_name":"No\u00e9mie Jaquier","orcid":"https://orcid.org/0000-0003-3565-9414"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"No\u00e9mie Jaquier","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063761733","display_name":"Leonel Rozo","orcid":"https://orcid.org/0000-0001-5970-9135"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Leonel Rozo","raw_affiliation_strings":["Bosch Center for Artificial Intelligence,Renningen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bosch Center for Artificial Intelligence,Renningen,Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4437,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.90847578,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5144","last_page":"5151"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9807999730110168,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.620182991027832},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6099616885185242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5953546762466431},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5559466481208801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5345275402069092},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.49460336565971375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4887657165527344},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19309911131858826},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14661073684692383}],"concepts":[{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.620182991027832},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6099616885185242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5953546762466431},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5559466481208801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5345275402069092},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.49460336565971375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4887657165527344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19309911131858826},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14661073684692383},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2050176043","https://openalex.org/W2086161653","https://openalex.org/W2144144709","https://openalex.org/W2191886813","https://openalex.org/W2896405912","https://openalex.org/W3132689247","https://openalex.org/W3207133204","https://openalex.org/W3208129034","https://openalex.org/W4205623727","https://openalex.org/W4250482878","https://openalex.org/W4385403811","https://openalex.org/W4385430497","https://openalex.org/W4387195417","https://openalex.org/W4390874615","https://openalex.org/W4401416137","https://openalex.org/W6746023985","https://openalex.org/W6770847983","https://openalex.org/W6778324997","https://openalex.org/W6788990321","https://openalex.org/W6799150178","https://openalex.org/W6810410854","https://openalex.org/W6838483015","https://openalex.org/W6841549819","https://openalex.org/W6842958722","https://openalex.org/W6843939211","https://openalex.org/W6846460215","https://openalex.org/W6846539466","https://openalex.org/W6849790239","https://openalex.org/W6857141072","https://openalex.org/W6857325431","https://openalex.org/W6858137104"],"related_works":["https://openalex.org/W1972035260","https://openalex.org/W8302103","https://openalex.org/W4301594054","https://openalex.org/W2794488505","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W3125889879","https://openalex.org/W2184085865"],"abstract_inverted_index":{"We":[0,58],"introduce":[1],"Riemannian":[2,80],"Flow":[3],"Matching":[4],"Policies":[5],"(RFMP),":[6],"a":[7,51,79],"novel":[8],"model":[9],"for":[10,90],"learning":[11],"and":[12,22,50,54,67],"synthesizing":[13],"robot":[14,69,75],"visuomotor":[15],"policies.":[16,71],"RFMP":[17,31,63,82,120],"leverages":[18],"the":[19,33,38,60,74,113],"efficient":[20],"training":[21],"inference":[23,56,128],"capabilities":[24],"of":[25,35,62],"flow":[26,36],"matching":[27],"methods.":[28],"By":[29],"design,":[30],"inherits":[32],"strengths":[34],"matching:":[37],"ability":[39],"to":[40,64],"encode":[41],"high-dimensional":[42],"multimodal":[43],"distributions,":[44],"commonly":[45],"encountered":[46],"in":[47],"robotic":[48,92],"tasks,":[49,115],"very":[52],"simple":[53],"fast":[55],"process.":[57],"demonstrate":[59],"applicability":[61],"both":[65,109],"state-based":[66],"vision-conditioned":[68],"motion":[70],"Notably,":[72],"as":[73],"state":[76],"resides":[77],"on":[78],"manifold,":[81],"inherently":[83],"incorporates":[84],"geometric":[85],"awareness,":[86],"which":[87],"is":[88],"crucial":[89],"realistic":[91],"tasks.":[93],"To":[94],"evaluate":[95],"RFMP,":[96],"we":[97],"conduct":[98],"two":[99],"proof-of-concept":[100],"experiments,":[101],"comparing":[102],"its":[103],"performance":[104],"against":[105],"Diffusion":[106],"Policies.":[107],"Although":[108],"approaches":[110],"successfully":[111],"learn":[112],"considered":[114],"our":[116],"results":[117],"show":[118],"that":[119],"provides":[121],"smoother":[122],"action":[123],"trajectories":[124],"with":[125],"significantly":[126],"lower":[127],"times.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}