Learning Complex Motion Plans using Neural ODEs with Safety and Stability Guarantees

We propose a Dynamical System (DS) approach to learn complex, possibly periodic motion plans from kinesthetic demonstrations using Neural Ordinary Differential Equations (NODE). To ensure reactivity and robustness to disturbances, we propose a novel approach that selects a target point at each time...

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Hauptverfasser:	Nawaz, Farhad, Li, Tianyu, Matni, Nikolai, Figueroa, Nadia
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics Computer Science - Systems and Control
Online-Zugang:	Volltext bestellen
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