Learning Stability Certificate for Robotics in Real-World Environments

摘要

Stability certificates play a critical role in ensuring the safety and reliability of robotic systems. However, deriving these certificates for complex, unknown systems has traditionally required explicit knowledge of system dynamics, often making it a daunting task. This work introduces a novel framework that learns a Lyapunov function directly from trajectory data, enabling the certification of stability for autonomous systems without needing detailed system models. By parameterizing the Lyapunov candidate using a neural network and ensuring positive definiteness through Cholesky factorization, our approach automatically identifies whether the system is stable under the given trajectory. To address the challenges posed by noisy, real-world data, we allow for controlled violations of the stability condition, focusing on maintaining high confidence in the stability certification process. Our results demonstrate that this framework can provide data-driven stability guarantees, offering a robust method for certifying the safety of robotic systems in dynamic, real-world environments. This approach works without access to the internal control algorithms, making it applicable even in situations where system behavior is opaque or proprietary. The tool for learning the stability proof is open-sourced by this research: https://github.com/HansOersted/stability.