The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamic Systems

Spencer M. Richards
Spencer M. Richards

CoRL, 2018.

Cited by: 47|Views19
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Abstract:

Learning algorithms have shown considerable prowess in simulation by allowing robots to adapt to uncertain environments and improve their performance. However, such algorithms are rarely used in practice on safety-critical systems, since the learned policy typically does not yield any safety guarantees. That is, the required exploration m...More

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