Riemannian Manifolds

Follow this topic Ask about this topic

Momentum

18 papers in the last four weeks, with none the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28

Latest papers 82

May 18, 2026cs.LG

Pointwise Generalization in Deep Neural Networks

We address the fundamental question of why deep neural networks generalize by establishing a pointwise generalization theory for fully connected networks. This framework resolves long-standing barriers to characterizing the rich nonlinear feature-learning regime and builds a new statistical foundation for representation learning. For each trained model, we characterize the hypothesis via a pointwise Riemannian Dimension, derived from the eigenvalues of the learned feature representations across layers. This establishes a principled framework for deriving hypothesis-dependent, representation-aware generalization bounds. These bounds offer a systematic upgrade over approaches based on model size, products of norms, and infinite-width linearizations, yielding guarantees that are orders of magnitude tighter in both theory and experiment. Analytically, we identify the structural properties and mathematical principles that explain the tractability of deep networks. Empirically, the pointwise Riemannian Dimension exhibits substantial feature compression, decreases with increased over-parameterization, and captures the implicit bias of optimizers. Taken together, our results indicate that deep networks are mathematically tractable in practical regimes and that their generalization is sharply explained by pointwise, feature-spectrum-aware complexity.

Shaojie Li, Yunbei Xu

National University of Singapore

Deep Network Generalization Bounds Riemannian Manifolds

May 18, 2026cs.LG

Dynamic Elliptical Graph Factor Models via Riemannian Optimization with Geodesic Temporal Regularization

Inferring time-varying graph structures from high-dimensional nodal observations is a fundamental problem arising in neuroscience, finance, climatology, and beyond. Two intrinsic challenges govern this problem: maintaining the \emph{temporal coherence} of the latent graph across successive observation windows, and respecting the \emph{intrinsic Riemannian geometry} of the symmetric positive definite manifold on which precision matrices naturally reside, a curved space whose geodesic structure departs fundamentally from that of the ambient Euclidean space. In this paper we propose dynamic estimation on the Grassmann manifold with a factor model (\textsc{Degfm}), a novel algorithm that jointly addresses both challenges. We model the time-varying precision matrix sequence as a low-rank-plus-diagonal structure governed by a latent elliptical graph factor model, which drastically reduces the effective parameter count and enables reliable estimation in the challenging small-sample regime. Temporal coherence is enforced through a Riemannian geodesic penalty defined on the Grassmann manifold, ensuring that the estimated graph trajectory is smooth with respect to the intrinsic geometry rather than the ambient Euclidean space. To solve the resulting non-convex optimization problem over Grassmann-manifold-valued sequences subject to the LRaD constraint, we derive an efficient Riemannian gradient descent algorithm that respects the manifold structure at every iterate and rigorously establish its convergence to a stationary point. Extensive experiments on both synthetic benchmarks and real-world datasets demonstrate that \textsc{Degfm} consistently outperforms state-of-the-art baselines across all evaluation metrics, confirming the practical effectiveness of the proposed framework.

Chuansen Peng, Xiaojing Shen

School of Mathematics, Sichuan University, Chengdu, Sichuan, 610064, China

Riemannian Manifolds Factor Graphs Riemannian Optimization Geodesic Factor

May 16, 2026cs.LG

The Geometry of Projection Heads: Conditioning, Invariance, and Collapse

We develop a geometric theory of projection heads in self-supervised learning by modeling the head as a trainable Riemannian metric on the backbone representation manifold. We show that linear heads perform implicit subspace whitening, while nonlinear heads adapt local metrics to satisfy the specific topological constraints of the loss, with head depth empirically dictating this capacity. Analyzing dimensional collapse, we prove that smooth nonlinear heads natively induce negative eigenvalues in the Hessian at collapsed equilibria, making them unstable. We empirically validate this by continuously tracking the optimization geometry during training, which reveals that smooth activations like Swish can generate explicit negative curvature to escape collapse, whereas linear and ReLU heads under continuous-time gradient flow cannot, relying instead on discrete-time optimization dynamics and BatchNorm. Finally, we geometrically characterize how metric degeneracy governs the information-invariance trade-off, explaining why the head must be discarded. Evaluated across contrastive and decorrelation-based objectives on foundation models, our results demonstrate that the projection head acts as a universal geometric buffer, decoupling the semantic backbone from the rigid, destructive constraints of the pretraining objective.

Faris Chaudhry

Department of Computing, Imperial College London, United Kingdom.

Projection Heads Self-Supervised Learning Riemannian Manifolds Subspace Collapse Nonlinearity

May 14, 2026cs.LG

Don't Stop Me Yet: Sampling Loss Minima via Dissipative Riemannian Mechanics

The minima of modern neural network loss functions are typically not isolated, rather they form connected components of reparameterization invariant solutions on the training data. Analytically characterizing these solutions is a hard problem, but sampling approaches are feasible. By construction, existing methods either spread over low-loss regions, and thus do not sample reparameterization invariant solutions exactly, or are inherently local, which limits exploration of other minima valleys. We propose sampling such reparameterization invariant models using a dynamical system based on kinetic energy, subject to a gravitational pull and a friction term that dissipates energy from the system. Our proposed sampler, DiMS, is guaranteed to sample exactly from the minimum level sets and depends on physically motivated hyperparameters which allows control over the exploration capabilities of the sampler. We consider uncertainty quantification in Bayesian inference as the motivating problem and observe improved performance compared to previously proposed approaches.

Albert Kjøller Jacobsen, Leo Uhre Jakobsen, Johanna Marie Gegenfurtner +1

Section for Cognitive Systems, Technical University of Denmark · Center for Quantum Information Physics, New York University

Reparameterization Flat Minima Loss Function Riemannian Manifolds Mechanics

May 13, 2026cs.LG

Topology-Preserving Neural Operator Learning via Hodge Decomposition

In this paper, we study solution operators of physical field equations on geometric meshes from a function-space perspective. We reveal that Hodge orthogonality fundamentally resolves spectral interference by isolating unlearnable topological degrees of freedom from learnable geometric dynamics, enabling an additive approximation confined to structure-preserving subspaces. Building on Hodge theory and operator splitting, we derive a principled operator-level decomposition. The result is a Hybrid Eulerian-Lagrangian architecture with an algebraic-level inductive bias we call Hodge Spectral Duality (HSD). In our framework, we use discrete differential forms to capture topology-dominated components and an orthogonal auxiliary ambient space to represent complex local dynamics. Our method achieves superior accuracy and efficiency on geometric graphs with enhanced fidelity to physical invariants. Our code is available at https://github.com/ContinuumCoder/Hodge-Spectral-Duality

Dongzhe Zheng, Tao Zhong, Christine Allen-Blanchette

Princeton University

Neural Operators Graph Laplacians Scalar Field Riemannian Manifolds

May 11, 2026cs.RO

Distributed Pose Graph Optimization via Continuous Riemannian Dynamics

We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeling pose variables as massive particles subject to damping, the equilibrium points of the resulting Riemannian dynamics coincide with first-order critical points of the original PGO problem. Using the governing damped Euler--Poincaré equations and a semi-implicit geometric integrator, we design an optimization algorithm that generalizes existing algorithms such as Riemannian gradient descent and Gauss--Newton. In multi-robot settings, we present a fully distributed and parallel method based on block-diagonal mass and damping matrices, where each robot solves an ordinary differential equation for its own poses with minimal communication overhead. Moreover, modeling both state and velocity enables principled neighbor prediction that significantly improves convergence under delayed communication. Theoretically, we present an analysis and establish sufficient condition that ensures energy dissipation under the employed geometric discretization scheme. Experiments on benchmark PGO datasets demonstrate that the proposed solver achieves superior performance compared to state-of-the-art distributed baselines in both synchronous and asynchronous regimes.

Jaeho Shin, Maani Ghaffari, Yulun Tian

University of Michigan Ann Arbor, MI 48109, USA

Category-Level Object Pose Estimation Multi-Robot Systems Robust Trajectory Rigid-Body Dynamics Riemannian Manifolds Time Discretization

May 7, 2026cs.LG

Christoffel-DPS: Optimal sensor placement in diffusion posterior sampling for arbitrary distributions

State estimation is a critical task in scientific, engineering and control applications. Since the reliability of reconstructions depends on the number and position of sensors, optimal sensor placement (OSP) is essential in scenarios where measurements are sparse and expensive. Classical OSP approaches rely on Gaussian assumptions and are consequently unable to account for the complex distributions encountered in many real-world systems. Generative-model-based reconstruction using sensor guided diffusion posterior sampling (DPS) has emerged as a promising technique for reconstructing states from highly complex distributions. However, existing sensor-selection methods either require unrealistically many sensors or emulate classical OSP, creating a mismatch between modern recovery models with classical OSP tools motivating the need for fundamentally new ideas towards OSP that match the recent advances made in powerful recovery models. We introduce a distribution-free sensor placement framework based on the Christoffel function: a mathematical formulation of optimal sampling and recovery guarantees for posterior sampling with arbitrary sensors and signal distributions, from which we derive a new OSP strategy with non-asymptotic bounds on the number of sensors needed for recovery. We develop Christoffel-DPS, with offline and online variants, instantiating Christoffel sampling for generative models. Christoffel-DPS outperforms Gaussian OSP baselines and existing generative-model placement methods, validating that distribution-free sensing is both theoretically principled and practically superior. The framework is model-agnostic; we demonstrate its application to a range of unconditional DPS and flow-matching models on structurally non-Gaussian benchmarks, showing the efficacy of Christoffel-DPS in low sensor budget regimes.

James Rowbottom, Nick Huang, Carola-Bibiane Schönlieb +1

Department of Mathematics Simon Fraser University Canada

Optimal Sensor Placement Posterior Sampling Distributions Collaborative Sensing Generative Models Riemannian Manifolds

May 7, 2026eess.AS

Optimal Transport Audio Distance with Learned Riemannian Ground Metrics

In audio generation evaluation, Fréchet Audio Distance (FAD) is a 2-Wasserstein distance with structural constraints for both primitives: the cost is a frozen embedding pullback whose invariance set hides severe artifacts, and the coupling is a Gaussian fit that dilutes rank-1 contamination relative to discrete OT. We propose Optimal Transport Audio Distance (OTAD), which corrects each primitive with one dedicated mechanism -- a residual Riemannian ground-metric adapter for the cost and entropic Sinkhorn optimal transport for the coupling. Across eight encoders under a four-axis protocol, coupling-only comparisons at

ε= 0.05

show that Sinkhorn's rank-1 sensitivity exceeds FAD's by a factor of 1.9 to 3.6. Furthermore, OTAD achieves a higher mean Spearman correlation with audio-quality MOS (DCASE 2023 Task 7) than baseline metrics. As an intrinsic benefit of the discrete transport plan, OTAD yields per-sample diagnostics with AUROC

\ge 0.86

, a capability that scalar- or kernel-aggregated metrics structurally lack.

Wonwoo Jeong

Sogang University

Neural Audio Distance Riemannian Manifolds

May 5, 2026cs.LG

Flow Sampling: Learning to Sample from Unnormalized Densities via Denoising Conditional Processes

Sampling from unnormalized densities is analogous to the generative modeling problem, but the target distribution is defined by a known energy function instead of data samples. Because evaluating the energy function is often costly, a primary challenge is to learn an efficient sampler. We introduce Flow Sampling, a framework built on diffusion models and flow matching for the data-free setting. Our training objective is conditioned on a noise sample and regresses onto a denoising diffusion drift constructed from the energy function. In contrast, diffusion models' objective is conditioned on a data sample and regresses onto a noising diffusion drift. We utilize the interpolant process to minimize the number of energy function evaluations during training, resulting in an efficient and scalable method for sampling unnormalized densities. Furthermore, our formulation naturally extends to Riemannian manifolds, enabling diffusion-based sampling in geometries beyond Euclidean space. We derive a closed-form formula for the conditional drift on constant curvature manifolds, including hyperspheres and hyperbolic spaces. We evaluate Flow Sampling on synthetic energy benchmarks, small peptides, large-scale amortized molecular conformer generation, and distributions supported on the sphere, demonstrating strong empirical performance.

Aaron Havens, Brian Karrer, Neta Shaul

FAIR at Meta · Weizmann Institute of Science

Diffusion Sampling Riemannian Manifolds Conformational Ensembles

May 5, 2026cs.LG

Simultaneous CNN Approximation on Manifolds with Applications to Boundary Value Problems

This paper develops convolutional neural network (CNN) methods for simultaneous Sobolev approximation and elliptic boundary value problems on compact Riemannian manifolds. We prove approximation estimates for single- and multichannel CNNs, with rates governed by the intrinsic dimension and the smoothness gap. Motivated by elliptic stability, we propose a physics-informed CNN framework with a spectral boundary loss. The boundary residual is expanded in boundary Laplace--Beltrami eigenmodes and penalized by Sobolev trace weights, matching the natural

\mathcal H^{2s-1/2}(\partial\mathcal M^d)

trace norm for

2s

-order elliptic problems. This avoids smooth auxiliary constructions for exact boundary enforcement and singular Sobolev--Slobodeckij double integrals, while allowing FFT-based or precomputed spectral implementations. We also derive an error decomposition separating approximation, generalization, and spectral truncation errors, showing that the proposed loss is aligned with localized fast-rate generalization analysis. Numerical experiments on the upper hemisphere and upper half-torus demonstrate improved accuracy, convergence, and stability over standard PINNs, with one to two orders of magnitude gains for high-frequency boundary data.

Hanfei Zhou, Lei Shi

School of Mathematical Sciences, Fudan University, Shanghai, 200433, China · Shanghai Key Laboratory for Contemporary Applied Mathematics, Fudan University, Shanghai, 200433, China

Logarithmic Sobolev Inequalities Neural Approximations Parametric Physics-Informed Neural Network Approximation Physics-Informed Learning Manifolds+2

May 5, 2026cs.LG

Flow Matching on Symmetric Spaces

We introduce a general framework for training flow matching models on Riemannian symmetric spaces, a large class of manifolds that includes the sphere, hyperbolic space and Grassmannians. We exploit their algebraic structure to reformulate flow matching on symmetric spaces as flow matching on a subspace of the Lie algebra of their isometry group, thus linearizing the problem and greatly simplifying the handling of geodesics. As an application, we showcase our framework on the real Grassmannians

\operatorname{SO}(n) / \operatorname{SO}(k) \times \operatorname{SO}(n-k)

.

Francesco Ruscelli, Ferdinando Zanchetta, Rita Fioresi

Institute for Mathematics University of Heidelberg 69120 Heidelberg, Germany · Department of Pharmacy and Biotechnologies University of Bologna Bologna, Italy

Riemannian Flow Matching Riemannian Manifolds Manifolds Lie Group

May 4, 2026math.OC

A second-order method landing on the Stiefel manifold via Newton $\unicode{x2013}$ Schulz iteration

Retraction-free approaches offer attractive low-cost alternatives to Riemannian methods on the Stiefel manifold, but they are often first-order, which may limit the efficiency under high-accuracy requirements. To this end, we propose a second-order method landing on the Stiefel manifold without invoking retractions, which is proved to enjoy local quadratic (or superlinear for its inexact variant) convergence. The update consists of the sum of (i) a component tangent to the level set of the constraint-defining function that aims to reduce the objective and (ii) a component normal to the same level set that reduces the infeasibility. Specifically, we construct the normal component via Newton

\unicode{x2013}

Schulz, a fixed-point iteration for orthogonalization. Moreover, we establish a geometric connection between the Newton

\unicode{x2013}

Schulz iteration and Stiefel manifolds, in which Newton

\unicode{x2013}

Schulz moves along the normal space. For the tangent component, we formulate a modified Newton equation that incorporates Newton

\unicode{x2013}

Schulz. Numerical experiments on the orthogonal Procrustes problem, principal component analysis, and real-data independent component analysis illustrate that the proposed method performs better than the existing methods.

Xinhui Xiong, Bin Gao, P. -A. Absil

State Key Laboratory of Mathematical Sciences, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, and University of Chinese Academy of Sciences, China · State Key Laboratory of Mathematical Sciences, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, China · ICTEAM Institute, UCLouvain, Belgium

Newton Riemannian Manifolds Manifolds Independent Component Analysis

May 4, 2026math.DG

Foundations of Riemannian Geometry for Riemannian Optimization: A Monograph with Detailed Derivations

Riemannian geometry provides the fundamental framework for optimization on nonlinear spaces such as matrix manifolds, which arise in machine learning, signal processing, and robotics. While the underlying theory is classical, existing literature often presents results at a high level of abstraction, omitting the detailed coordinate-level derivations required for implementation and algorithm development. This work provides a self-contained and rigorous treatment of the foundations of Riemannian geometry, with a focus on explicit derivations tailored to Riemannian optimization. We systematically develop the key geometric structures -- including tangent and cotangent spaces, tensor calculus, metric tensors, Levi-Civita connections, curvature, and geodesics -- emphasizing step-by-step derivations in coordinates and matrix form. Building on these foundations, we derive the Riemannian gradient, Hessian, exponential map, and retraction in a form suitable for numerical computation. We further specialize these constructions to important matrix manifolds, including the Stiefel, Grassmann, and SPD (Symmetric Positive Definite) manifolds, providing explicit formulas widely used in optimization and geometric machine learning. This monograph develops a unified and implementation-oriented treatment of Riemannian geometry for optimization on manifolds. Its main contribution is the systematic organization and detailed derivation of classical geometric constructions in forms directly usable for algorithm design and numerical implementation. By connecting coordinate-level differential geometry with matrix-manifold formulas, the monograph bridges the gap between abstract theory and practical computation, and provides a reference for researchers and practitioners working in Riemannian optimization and related fields.

Benyamin Ghojogh

Waterloo, Ontario, Canada

Riemannian Optimization Riemannian Manifolds Manifolds Geometric Machine Learning Derivations

May 1, 2026cs.LG

Model Compression with Exact Budget Constraints via Riemannian Manifolds

Assigning one of K options to each of N groups under a total cost budget is a recurring problem in efficient AI, arising in mixed-precision quantization, non-uniform pruning, and expert selection. The objective (model loss) depends on all assignments jointly and does not decompose across groups, so combinatorial solvers can only optimize proxy objectives. Evolutionary search evaluates the actual loss but lacks gradients, while penalty-based methods enforce the budget only approximately and often require heavy hyperparameter tuning. We show that under softmax relaxation, the budget constraint defines a smooth Riemannian manifold in logit space with unusually clean geometry: the normal vector is available in closed form, shifting logits along the cost vector changes expected cost monotonically, and vector transport reduces to a single inner product. Building on this, we propose Riemannian Constrained Optimization (RCO), which wraps tangent projection, binary-search retraction, and momentum transport around a standard Adam step. Combined with Gumbel straight-through estimation and budget-constrained dynamic programming for discrete feasibility, RCO optimizes the actual loss with first-order methods, enforces the expected budget exactly at every iterate, and introduces no constraint-related hyperparameters. The same construction handles multiple simultaneous budgets with no additional coefficients. RCO matches or exceeds state-of-the-art methods on synthetic problems and realistic LLM compression settings, often at considerably lower wall-clock cost. Source code is available at https://github.com/IST-DASLab/RCO.

Michael Helcig, Dan Alistarh

ETH Zürich · IST Austria

Riemannian Optimization Token Budget Allocation Loss Function Riemannian Manifolds Artificial Intelligence Systems

Apr 24, 2026cs.LG

Decoding High-Dimensional Finger Motion from EMG Using Riemannian Features and RNNs

Continuous estimation of high-dimensional finger kinematics from forearm surface electromyography (EMG) could enable natural control for hand prostheses, AR/XR interfaces, and teleoperation. However, the complexity of human hand gestures and the entanglement of forearm muscles make accurate recognition intrinsically challenging. Existing approaches typically reduce task complexity by relying on classification-based machine learning, limiting the controllable degrees of freedom and compromising on natural interaction. We present an end-to-end framework for continuous EMG-to-kinematics regression using only consumer-grade hardware. The framework combines an 8-channel EMG armband, a single webcam, and an automatic synchronization procedure, enabling the collection of the EMG Finger-Kinematics dataset (EMG-FK), a 10-h dataset of synchronized EMG and 15 finger joint angles from 20 participants performing rich, unconstrained right-hand motions. We also introduce the Temporal Riemannian Regressor (TRR), a lightweight GRU-based model that uses sequences of multi-band Riemannian covariance features to decode finger motion. Across EMG-FK and the public emg2pose benchmark, TRR outperforms state-of-the-art methods in both intra- and cross-subject evaluation. On EMG-FK, it reaches an average absolute error of

9.79 °\pm 1.48

in intra-subject and

16.71 °\pm 3.97

in cross-subject. Finally, we demonstrate real-time deployment on a Raspberry Pi 5 and intuitive control of a robotic hand; TRR runs at nearly 10 predictions/s and is roughly an order of magnitude faster than state-of-the-art approaches. Together, these contributions lower the barrier to reproducible, real-time EMG-based decoding of high-dimensional finger motion, and pave the way toward more natural and intuitive control of embedded EMG-based systems.

Martin Colot, Cédric Simar, Guy Cheron +2

Machine Learning Group, ULB, Bruxelles, Belgium · § These authors contributed equally to this work and share ﬁrst authorship. · Neuromove, ULB Neuroscience Institute, ULB, Brussels, Belgium +1

Surface Electromyography Robotic Hands Kinematics Riemannian Manifolds Controlled Comparison Recurrent Neural Networks+1

Apr 20, 2026cs.CV

Geometric Decoupling: Diagnosing the Structural Instability of Latent

Latent Diffusion Models (LDMs) achieve high-fidelity synthesis but suffer from latent space brittleness, causing discontinuous semantic jumps during editing. We introduce a Riemannian framework to diagnose this instability by analyzing the generative Jacobian, decomposing geometry into \textit{Local Scaling} (capacity) and \textit{Local Complexity} (curvature). Our study uncovers a \textbf{

Geometric Decoupling"}: while curvature in normal generation functionally encodes image detail, OOD generation exhibits a functional decoupling where extreme curvature is wasted on unstable semantic boundaries rather than perceptible details. This geometric misallocation identifies

Geometric Hotspots" as the structural root of instability, providing a robust intrinsic metric for diagnosing generative reliability.

Yuanbang Liang, Zhengwen Chen, Yu-Kun Lai

School of Computer Science and Informatics, Cardiff University, Cardiff, United Kingdom

Discriminative Congruence Transform Instability Riemannian Manifolds Jacobian

Apr 20, 2026math.DG

Complex normalizing flows can almost be information Kähler-Ricci flows

We develop interconnections between the complex normalizing flow for data drawn from Borel probability measures on the twofold realification of the complex manifold and a nonlinear flow nearly Kähler-Ricci. The complex normalizing flow relates the initial and target realified densities under the complex change of variables, necessitating the log determinant of the ensemble of Wirtinger Jacobians. The Ricci curvature of a Kähler manifold is the second order mixed Wirtinger partial derivative of the log of the local density of the volume form. Therefore, we reconcile these two facts by drawing forth the connection that the log determinant used in the complex normalizing flow matches a Ricci curvature term under differentiation and conditions. The log density under the normalizing flow is kindred to a spatial information metric under an augmented Jacobian and a Bayesian perspective to the parameter, thus under the continuum limit the log likelihood matches a Fisher metric, or more closely a Kähler cross-entropy Hessian. This recovers a Kähler-Ricci flow variation up to a time derivative and expectation, or an average-valued Kähler-Einstein flow. Using this framework, we establish other relevant results, attempting to bridge the statistical and ordinary behaviors of the complex normalizing flow to the geometric features of our derived Kähler flow.

Andrew Gracyk

Department of Mathematics, Purdue University, West Lafayette, IN 47907, United States

Normalizing Flows Riemannian Flow Matching Riemannian Manifolds Hessian

Apr 16, 2026cs.LG

Wasserstein Formulation of Reinforcement Learning. An Optimal Transport Perspective on Policy Optimization

We present a geometric framework for Reinforcement Learning (RL) that views policies as maps into the Wasserstein space of action probabilities. First, we define a Riemannian structure induced by stationary distributions, providing rigorous guarantees for their existence in a general context. We then define the tangent space of policies and characterize the geodesics, specifically addressing the measurability of vector fields mapping from the state space to the tangent space of probability measures over the action space. Next, we formulate a general RL optimization problem and construct a gradient flow using Otto's calculus. We compute the gradient and the Hessian of the energy (i.e., the expected cumulative cost), providing a formal second-order analysis. Finally, we illustrate the method with numerical examples: we compute the gradient directly from our theoretical formalism for low-dimensional problems, and we illustrate the numerical applicability of our formal framework to high-dimensional continuous control by parameterizing the policy with a neural network optimized via an ergodic approximation of the cost.

Mathias Dus

IRMA

Riemannian Optimization Wasserstein Distance Optimal Transport Approach Riemannian Manifolds Gradient State Space

Mar 30, 2026math.OC

Symmetrizing Bregman Divergence on the Cone of Positive Definite Matrices: Which Mean to Use and Why

This work uncovers variational principles behind symmetrizing the Bregman divergences induced by generic mirror maps over the cone of positive definite matrices. We show that computing the canonical means for this symmetrization can be posed as minimizing the desired symmetrized divergences over a set of mean functionals defined axiomatically to satisfy certain properties. For the forward symmetrization, we prove that the arithmetic mean over the primal space is canonical for any mirror map over the positive definite cone. For the reverse symmetrization, we show that the canonical mean is the arithmetic mean over the dual space, pulled back to the primal space. Applying this result to three common mirror maps used in practice, we show that the canonical means for reverse symmetrization, in those cases, turn out to be the arithmetic, log-Euclidean and harmonic means. Our results improve understanding of existing symmetrization practices in the literature, and can be seen as a navigational chart to help decide which mean to use when.

Tushar Sial, Abhishek Halder

Department of Aerospace Engineering, Iowa State University, Ames, IA 50011, USA

Bregman Divergences Symmetry Mirror Descent Riemannian Manifolds Divergence Mean+1

Mar 15, 2026cs.RO

Coordinate-Independent Robot Model Identification

Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and therefore depend on the chosen coordinate chart, units, and scaling. This paper proposes a coordinate-independent identification method that weights inverse-dynamics residuals by the dual metric induced by the system Riemannian metric. Using the force--velocity vector--covector duality, the dual metric provides a physically meaningful normalization of generalized forces, pulling coordinate residuals back into the ambient mechanical space and eliminating coordinate-induced bias. The resulting objective remains convex through an affine-metric and Schur-complement reformulation, and is compatible with physical-consistency constraints and geometric regularization. Experiments on an inertia-dominated Crazyflie--pendulum system and a drag-dominated LandSalp robot show improved identification accuracy, especially on shape coordinates, on both downsampled and full datasets.

Yanhao Yang, Ross L. Hatton

Collaborative Robotics and Intelligent Systems (CoRIS) Institute at Oregon State University, Corvallis, OR USA

Inverse Dynamics System Identification Robot Autonomy Robot Systems Riemannian Manifolds Vectors

Nov 24, 2025cs.LG

Geometry-Aware Deep Congruence Networks for Manifold Learning in Cross-Subject Motor Imagery

Cross-subject motor imagery decoding remains a fundamental challenge in EEG-based brain-computer interfaces due to substantial inter-subject variability. Recent approaches have leveraged Riemannian geometry by representing EEG signals as covariance matrices on the symmetric positive definite (SPD) manifold. However, existing methods primarily focus on manifold-based representations while largely overlooking subject-specific variations in covariance dispersion and orientation. In this work, we address these challenges through geometry-aware congruence transformations and propose three complementary models: (i) Discriminative Congruence Transform (DCT), (ii) Deep Linear DCT (DLDCT), and (iii) Deep DCT-UNet (DDCT-UNet). The proposed models are evaluated both as manifold alignment modules for downstream classifiers and as end-to-end discriminative architectures optimized via cross-entropy with a custom logistic regression head. Experiments on challenging cross-subject motor imagery benchmarks demonstrate consistent improvements in transductive decoding performance, achieving 2-3% higher accuracy than strong baselines. These results highlight the effectiveness of geometry-aware congruence learning for mitigating inter-subject variability in EEG decoding.

Sanjeev Manivannan, Chandra Shekar Lakshminarayan

Department of Biotechnology · Department of Data Science and Artificial Intelligence

Electroencephalography Decoding Electroencephalography Discriminative Congruence Transform Geometry-Aware Manifolds Riemannian Manifolds

Oct 2, 2025cs.LG

Robust Tangent Space Estimation via Laplacian Eigenvector Gradient Orthogonalization

Estimating the tangent spaces of a data manifold is a fundamental problem in geometric data analysis. The standard approach, Local Principal Component Analysis (LPCA), struggles in high-noise setting due to a critical trade-off in choosing the neighborhood size. Selecting an optimal size requires prior knowledge of the geometric and noise characteristics of the data that are often unavailable. In this paper, we propose a spectral method, Laplacian Eigenvector Gradient Orthogonalization (LEGO), that utilizes the global structure of the data to guide local tangent space estimation. Instead of relying solely on local neighborhoods, LEGO estimates the tangent space at each data point by orthogonalizing the gradients of low-frequency eigenvectors of the graph Laplacian. We provide two theoretical justifications of our method. First, a differential geometric analysis on the tubular neighborhood of a manifold shows that gradients of the low-frequency Neumann eigenfunctions of the tube align closely with the manifold's tangent bundle, while an eigenfunction with high gradient in directions orthogonal to the manifold lie deeper in the spectrum. Second, a random matrix theoretic analysis also demonstrates that low-frequency eigenvectors are robust to sub-Gaussian noise. These results allow us to derive the asymptotic scaling and stability of the estimated eigenvector gradients. Numerical experiments demonstrate that LEGO yields tangent space estimates that are significantly more robust to noise than those from LPCA, resulting in marked improvements in downstream tasks such as manifold learning, boundary detection, and local intrinsic dimension estimation.

Dhruv Kohli, Sawyer J. Robertson, Gal Mishne +1

Tangent Space Data Manifold Graph Laplacians Riemannian Manifolds Principal Component Analysis