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cs.RO2023
Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies
Tianyu Li, Nadia Figueroa
Dynamical System (DS) based Learning from Demonstration (LfD) allows learning of reactive motion policies with stability and convergence guarantees from a few trajectories. Yet, cu…
cs.RO2023
Directionality-Aware Mixture Model Parallel Sampling for Efficient Linear Parameter Varying Dynamical System Learning
Sunan Sun, Haihui Gao, Tianyu Li +1
The Linear Parameter Varying Dynamical System (LPV-DS) is an effective approach that learns stable, time-invariant motion policies using statistical modeling and semi-definite opti…