An Energy-based Approach to Ensure the Stability of Learned Dynamical Systems
Matteo Saveriano,Matteo Saveriano
Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been proposed to learn stable and accurate motions from demonstration. Some approaches work by separating accuracy and stability into two learning problems, which in...
