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This is the code example for the Paper Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies accepted to CoRL 2023. This repo contains 2D example for adapting to endpoints and continuous via-point. The GMM here adapts the DAMM method, which provides lightspeed estimation of GMM and automatically determine the number of Gaussians. Another option is to use PC-GMM.

python -m task.main_start_end --test 2

python -m task.main_via --test 1

If you find this code useful for you project, please consider citing it.

@article{li2023task,

    title={Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies}, 

    author={Tianyu Li and Nadia Figueroa},

    year={2023},

    eprint={2309.01884},

    archivePrefix={arXiv},

    primaryClass={cs.RO}

}