Learning Contracting Vector Fields For Stable Imitation Learning

13 Apr 2018 Vikas Sindhwani Stephen Tu Mohi Khansari

We propose a new non-parametric framework for learning incrementally stable dynamical systems x' = f(x) from a set of sampled trajectories. We construct a rich family of smooth vector fields induced by certain classes of matrix-valued kernels, whose equilibria are placed exactly at a desired set of locations and whose local contraction and curvature properties at various points can be explicitly controlled using convex optimization... (read more)

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