Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Geometric Fabrics for the Acceleration-based Design of Robotic Motion   This paper describes the pragmatic design and construction of geometric
fabrics for shaping a robot's task-independent nominal behavior, capturing
behavioral components such as obstacle avoidance, joint limit avoidance,
redundancy resolution, global navigation heuristics, etc. Geometric fabrics
constitute the most concrete incarnation of a new mathematical formulation for
reactive behavior called optimization fabrics. Fabrics generalize recent work
on Riemannian Motion Policies (RMPs); they add provable stability guarantees
and improve design consistency while promoting the intuitive acceleration-based
principles of modular design that make RMPs successful. We describe a suite of
mathematical modeling tools that practitioners can employ in practice and
demonstrate both how to mitigate system complexity by constructing behaviors
layer-wise and how to employ these tools to design robust,
strongly-generalizing, policies that solve practical problems one would expect
to find in industry applications. Our system exhibits intelligent global
navigation behaviors expressed entirely as provably stable fabrics with zero
planning or state machine governance.

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The categories of this paper are: hep-ph
27
The categories of this paper are: comp-gas
3
The categories of this paper are: physics
31
The categories of this paper are: ao-sci
19
The categories of this paper are: eess
4
The categories of this paper are: cond-mat
13
The categories of this paper are: quant-ph
7
The categories of this paper are: hep-th
2
The categories of this paper are: math
20
The categories of this paper are: acc-phys
15
The categories of this paper are: nucl-ex
5
The categories of this paper are: gr-qc
24
The categories of this paper are: dg-ga
22
The categories of this paper are: chao-dyn
33
The categories of this paper are: plasm-ph
32
The categories of this paper are: atom-ph