MORALS: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space
Ewerton R. Vieira,Aravind Sivaramakrishnan,Sumanth Tangirala,Edgar Granados,Konstantin Mischaikow,Kostas E. Bekris,Ewerton R. Vieira,Aravind Sivaramakrishnan,Sumanth Tangirala,Edgar Granados,Konstantin Mischaikow,Kostas E. Bekris
Estimating the region of attraction (RoA) for a robot controller is essential for safe application and controller composition. Many existing methods require a closed-form expression that limit applicability to data-driven controllers. Methods that operate only over trajectory rollouts tend to be data-hungry. In prior work, we have demonstrated that topological tools based on Morse Graphs (directed...
