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MIT-REALM / neural_clbf

Toolkit for learning controllers based on robust control Lyapunov barrier functions
BSD 3-Clause "New" or "Revised" License
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Black box dynamics #19

Closed dtch1997 closed 1 year ago

dtch1997 commented 1 year ago

Goal: Implement the capacity to train a learnable contraction metric (and controller) without access to the analytic Jacobian. In place of analytic dynamics, we will use black-box dynamics and use finite differences to estimate the Jacobian

dtch1997 commented 1 year ago

Sorry, PR'ed to wrong repo.