Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees
Ewerton R. Vieira,Aravind Sivaramakrishnan,Yao Song,Edgar Granados,Marcio Gameiro,Konstantin Mischaikow,Ying Hung,Kostas E. Bekris,Ewerton R. Vieira,Aravind Sivaramakrishnan,Yao Song,Edgar Granados,Marcio Gameiro,Konstantin Mischaikow,Ying Hung,Kostas E. Bekris
This paper proposes an integration of surrogate modeling and topology to significantly reduce the amount of data required to describe the underlying global dynamics of robot controllers, including closed-box ones. A Gaussian Process (GP), trained with randomized short trajectories over the state-space, acts as a surrogate model for the underlying dynamical system. Then, a combinatorial representat...
