Extended Neural Contractive Dynamical Systems: On Multiple Tasks and Riemannian Safety Regions

Understand

Stability guarantees are crucial when ensuring that a fully autonomous robot does not take undesirable or potentially harmful actions.

• We recently proposed the Neural Contractive Dynamical Systems (NCDS), which is a neural network architecture that guarantees contractive stability.
• With this, learning-from-demonstrations approaches can trivially provide stability guarantees.
• However, our early work left several unanswered questions, which we here address.