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cs.RO2023
Learning a Stable Dynamic System with a Lyapunov Energy Function for Demonstratives Using Neural Networks
Yu Zhang, Yongxiang Zou, Haoyu Zhang +2
Autonomous Dynamic System (DS)-based algorithms hold a pivotal and foundational role in the field of Learning from Demonstration (LfD). Nevertheless, they confront the formidable c…
cs.RO2023
Learning Variable Impedance Skills from Demonstrations with Passivity Guarantee
Yu Zhang, Long Cheng, Xiuze Xia +1
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with…