Grassia
 
1. A one or two sentence summary of the paper.
   Describes what an exponential map is and the pros and cons of using
it.
 
2. A one or two sentence description of the problem the paper is trying
to solve.
   Explains how singularities can be handled so exponential maps can be
used more.
 
3. A one of two sentence description of the method used to solve the
problem.
   By rearranging formulats, make it possible to robustly compute
exponential
   maps even in the neighborhood of the origin.
 
4. A list of short (approx one sentence) descriptions of the key ideas of
the paper.
   Exp. maps are free of of gimbal locks, smaller size, etc.
   Exp. maps arent't good for combining rotations.
 
5. A list of short (approx one sentence) descriptions of the
contributions of the paper.
   Describes how an exp. map can be practically used in IK, simulation
systems, etc.
 
6. Any questions that the paper raises for you. This might be some flaw
that they do not address, something that is unclear, some piece of
background knowledge that you don't have that would help you understand
the paper, ...
   More details on why exp. maps are hard to combine might help.