Orbitally Stable Motion Primitives learn periodic robot motions with a stable latent oscillator, a learned invertible encoder, and task conditioning, claiming exponential orbital stability and smooth interpolation between behaviors.
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Learning to Move in Rhythm: Task-Conditioned Motion Policies with Orbital Stability Guarantees
Orbitally Stable Motion Primitives learn periodic robot motions with a stable latent oscillator, a learned invertible encoder, and task conditioning, claiming exponential orbital stability and smooth interpolation between behaviors.