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Structured Policy Representation: Imposing Stability in arbitrarily conditioned dynamic systems

Julen Urain; Davide Tateo; Tianyu Ren; Jan Peters
In: Computing Research Repository eprint Journal (CoRR), Vol. abs/2012.06224, Pages 0-10, arXiv, 2020.


We present a new family of deep neural network-based dynamic systems. The presented dynamics are globally stable and can be conditioned with an arbitrary context state. We show how these dynamics can be used as structured robot policies. Global stability is one of the most important and straightforward inductive biases as it allows us to impose reasonable behaviors outside the region of the demonstrations.

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