{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/geometry-aware-bayesian-optimization-in","title":"Geometry-aware Bayesian Optimization in Robotics using Riemannian Matérn Kernels","arxiv_id":"2111.01460","date":"2021-11-02","proceeding":null,"authors":["Noémie Jaquier","Viacheslav Borovitskiy","Andrei Smolensky","Alexander Terenin","Tamim Asfour","Leonel Rozo"],"abstract":"Bayesian optimization is a data-efficient technique which can be used for control parameter tuning, parametric policy adaptation, and structure design in robotics. Many of these problems require optimization of functions defined on non-Euclidean domains like spheres, rotation groups, or spaces of positive-definite matrices. To do so, one must place a Gaussian process prior, or equivalently define a kernel, on the space of interest. Effective kernels typically reflect the geometry of the spaces they are defined on, but designing them is generally non-trivial. Recent work on the Riemannian Mat\\'ern kernels, based on stochastic partial differential equations and spectral theory of the Laplace-Beltrami operator, offers promising avenues towards constructing such geometry-aware kernels. In this paper, we study techniques for implementing these kernels on manifolds of interest in robotics, demonstrate their performance on a set of artificial benchmark functions, and illustrate geometry-aware Bayesian optimization for a variety of robotic applications, covering orientation control, manipulability optimization, and motion planning, while showing its improved performance.","url_abs":"https://arxiv.org/abs/2111.01460v2","url_pdf":"https://arxiv.org/pdf/2111.01460v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"geometry-aware-bayesian-optimization-in","repo_url":"https://github.com/noemiejaquier/materngabo","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"bayesian-optimization","task_name":"Bayesian Optimization"},{"task_slug":"motion-planning","task_name":"Motion Planning"}],"methods":[{"method_slug":"gaussian-process","method_name":"Gaussian Process"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2111.01460","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2111.01460"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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