Learning Dynamical Systems Encoding Non-Linearity within Space Curvature

arXiv:2403.11948v1 Announce Type: cross
Abstract: Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of real-world scenarios necessitates DS with a higher degree of non-linearity, along with the ability to adapt to potential changes in environmental conditions, such as obstacles. Current learning strategies for DSs often involve a trade-off, sacrificing either stability guarantees or offline …

abstract arxiv complexity control cs.lg cs.ro cs.sy driving eess.sy encoding robotics robust space stability systems type vector world