Learning stabilizable nonlinear dynamics with contraction-based regularization

Sumeet Singh; Spencer M. Richards; Vikas Sindhwani; Jean Jacques E. Slotine; Marco Pavone

doi:10.1177/0278364920949931

Learning stabilizable nonlinear dynamics with contraction-based regularization

Sumeet Singh, Spencer M. Richards, Vikas Sindhwani, Jean Jacques E. Slotine, Marco Pavone

Research output: Contribution to journal › Article › peer-review

Original language	English
Pages (from-to)	1123-1150
Number of pages	28
Journal	International Journal of Robotics Research
Volume	40
Issue number	10-11
DOIs	https://doi.org/10.1177/0278364920949931
Publication status	Published - Sept 2021
Externally published	Yes

ASJC Scopus Subject Areas

Software
Modelling and Simulation
Mechanical Engineering
Electrical and Electronic Engineering
Artificial Intelligence
Applied Mathematics

Keywords

learning for control
Learning stabilizable models for control
model-based reinforcement learning
semi-infinite optimization
semi-supervised learning

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10.1177/0278364920949931

Cite this

@article{10269783744e46a5bf9d3edb4f7786f8,

title = "Learning stabilizable nonlinear dynamics with contraction-based regularization",

keywords = "learning for control, Learning stabilizable models for control, model-based reinforcement learning, semi-infinite optimization, semi-supervised learning",

author = "Sumeet Singh and Richards, {Spencer M.} and Vikas Sindhwani and Slotine, {Jean Jacques E.} and Marco Pavone",

note = "Publisher Copyright: {\textcopyright} The Author(s) 2020.",

year = "2021",

month = sep,

doi = "10.1177/0278364920949931",

language = "English",

volume = "40",

pages = "1123--1150",

journal = "International Journal of Robotics Research",

issn = "0278-3649",

publisher = "SAGE Publications Inc.",

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TY - JOUR

T1 - Learning stabilizable nonlinear dynamics with contraction-based regularization

AU - Singh, Sumeet

AU - Richards, Spencer M.

AU - Sindhwani, Vikas

AU - Slotine, Jean Jacques E.

AU - Pavone, Marco

N1 - Publisher Copyright: © The Author(s) 2020.

PY - 2021/9

Y1 - 2021/9

KW - learning for control

KW - Learning stabilizable models for control

KW - model-based reinforcement learning

KW - semi-infinite optimization

KW - semi-supervised learning

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U2 - 10.1177/0278364920949931

DO - 10.1177/0278364920949931

M3 - Article

AN - SCOPUS:85090063116

SN - 0278-3649

VL - 40

SP - 1123

EP - 1150

JO - International Journal of Robotics Research

JF - International Journal of Robotics Research

IS - 10-11

ER -

Learning stabilizable nonlinear dynamics with contraction-based regularization

ASJC Scopus Subject Areas

Keywords

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