HALO learns latent reduced-order models with Poincaré maps for hybrid locomotion dynamics, allowing Lyapunov-based regions of attraction to be lifted from latent space to the full-order system.
2024 American Control Conference (ACC) , pages=
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HALO: Hybrid Auto-encoded Locomotion with Learned Latent Dynamics, Poincar\'e Maps, and Regions of Attraction
HALO learns latent reduced-order models with Poincaré maps for hybrid locomotion dynamics, allowing Lyapunov-based regions of attraction to be lifted from latent space to the full-order system.