Learning Stable Dynamics via Iterative Quadratic Programming
Paul Gesel,Momotaz Begum,Paul Gesel,Momotaz Begum
This paper proposes a novel autonomous dynamic system (ADS) based controller for trajectory learning from demonstration (LfD). We call our method Learning Stable Dynamics via Iterative Quadratic Programming (LSD-IQP). LSD-IQP learns an energy function and an ADS from demonstrations via semi-infinite quadratic programming. Energy function constraints are imposed on the learned ADS to ensure converg...
