Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
157 tokens/sec
GPT-4o
8 tokens/sec
Gemini 2.5 Pro Pro
46 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

An Energy-based Approach to Ensure the Stability of Learned Dynamical Systems (2003.11290v2)

Published 25 Mar 2020 in cs.RO, cs.SY, and eess.SY

Abstract: 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 increases the number of open parameters and the overall training time. Alternative solutions exploit single-step learning but restrict the applicability to one regression technique. This paper presents a single-step approach to learn stable and accurate motions that work with any regression technique. The approach makes energy considerations on the learned dynamics to stabilize the system at run-time while introducing small deviations from the demonstrated motion. Since the initial value of the energy injected into the system affects the reproduction accuracy, it is estimated from training data using an efficient procedure. Experiments on a real robot and a comparison on a public benchmark shows the effectiveness of the proposed approach.

Citations (16)

Summary

We haven't generated a summary for this paper yet.