Extended neural contractive dynamical systems: On multiple tasks and Riemannian safety regions

Hadi Beik-Mohammadi, Søren Hauberg, Georgios Arvanitidis, Gerhard Neumann, Leonel Rozo, Bosch Center for Artificial Intelligence , Autonomous Learning Robots Lab, Karlsruhe Institute of Technology , Section for Cognitive Systems, Technical University of Denmark

The International Journal of Robotics Research

Published online on September 05, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 5, Page 714-745, April 2026.
Stability guarantees are crucial when ensuring that a fully autonomous robot does not take undesirable or potentially harmful actions. We recently proposed theNeural Contractive Dynamical Systems (NCDS), which is a neural network architecture that ...