Abstract
Learning safe and stable robot motions from demonstrations remains a challenge, especially in complex, nonlinear tasks involving dynamic, obstacle-rich environments. In this paper, we propose Safe and Stable Neural Network Dynamical Systems S$^2$-NNDS, a learning-from-demonstration framework that simultaneously learns expressive neural dynamical systems alongside neural Lyapunov stability and barrier safety certificates. Unlike traditional approaches with restrictive polynomial parameterizations, S$^2$-NNDS leverages neural networks to capture complex robot motions providing probabilistic guarantees through split conformal prediction in learned certificates. Experimental results on various 2D and 3D datasets -- including LASA handwriting and demonstrations recorded kinesthetically from the Franka Emika Panda robot -- validate S$^2$-NNDS effectiveness in learning robust, safe, and stable motions from potentially unsafe demonstrations.
Abstract (translated)
URL
https://arxiv.org/abs/2511.20593
