{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,8]],"date-time":"2026-02-08T08:43:22Z","timestamp":1770540202987,"version":"3.49.0"},"reference-count":50,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T00:00:00Z","timestamp":1701388800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T00:00:00Z","timestamp":1701388800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T00:00:00Z","timestamp":1701388800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Zhejiang Provincial Natural Science Foundation of China","award":["LR23F030002"],"award-info":[{"award-number":["LR23F030002"]}]},{"name":"Zhejiang Provincial Natural Science Foundation of China","award":["LD21F030002"],"award-info":[{"award-number":["LD21F030002"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973275"],"award-info":[{"award-number":["61973275"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004543","name":"China Scholarship Council","doi-asserted-by":"publisher","award":["202108330357"],"award-info":[{"award-number":["202108330357"]}],"id":[{"id":"10.13039\/501100004543","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,12]]},"DOI":"10.1109\/tro.2023.3303011","type":"journal-article","created":{"date-parts":[[2023,8,22]],"date-time":"2023-08-22T17:51:43Z","timestamp":1692726703000},"page":"4520-4538","source":"Crossref","is-referenced-by-count":34,"title":["Learning a Flexible Neural Energy Function With a Unique Minimum for Globally Stable and Accurate Demonstration Learning"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0871-9779","authenticated-orcid":false,"given":"Zhehao","family":"Jin","sequence":"first","affiliation":[{"name":"Zhejiang Provincial United Key Laboratory of Embedded Systems, Department of Information Engineering, Zhejiang University of Technology, Hangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4531-2596","authenticated-orcid":false,"given":"Weiyong","family":"Si","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2445-8457","authenticated-orcid":false,"given":"Andong","family":"Liu","sequence":"additional","affiliation":[{"name":"Zhejiang Provincial United Key Laboratory of Embedded Systems, Department of Information Engineering, Zhejiang University of Technology, Hangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4355-2783","authenticated-orcid":false,"given":"Wen-An","family":"Zhang","sequence":"additional","affiliation":[{"name":"Zhejiang Provincial United Key Laboratory of Embedded Systems, Department of Information Engineering, Zhejiang University of Technology, Hangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3889-3863","authenticated-orcid":false,"given":"Li","family":"Yu","sequence":"additional","affiliation":[{"name":"Zhejiang Provincial United Key Laboratory of Embedded Systems, Department of Information Engineering, Zhejiang University of Technology, Hangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5255-5559","authenticated-orcid":false,"given":"Chenguang","family":"Yang","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K."}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3073310"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2020.3020065"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.3044788"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/s0005-1098(03)00250-4"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2158251"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3154469"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2817589"},{"key":"ref8","volume-title":"Nonlinear Control","author":"Khalil","year":"2015"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2006.886952"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642154"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1163\/016918609X12529294461843"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152439"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/icra.2014.6907339"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2540623"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-015-0187-9"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461079"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9648-7"},{"key":"ref18","first-page":"2616","article-title":"Probabilistic movement primitives","volume-title":"Proc. Int. Conf. Neural Inf. Process. Syst.","author":"Paraschos","year":"2013"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919846363"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2014.x.022"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1162\/NECO_a_00393"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152385"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.23919\/IConAC.2017.8081982"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2018.2852711"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2009.5379536"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/s0005-1098(98)00019-3"},{"key":"ref27","article-title":"Learning contracting nonlinear dynamics from human demonstration for robot motion planning","volume-title":"Proc. ASME Dyn. Syst. Control Conf.","author":"Harish","year":"2015"},{"key":"ref28","article-title":"Learning contracting vector fields for stable imitation learning","author":"Sindhwani","year":"2018"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920949931"},{"key":"ref30","first-page":"369","article-title":"Learning partially contracting dynamical systems from demonstrations","volume-title":"Proc. 1st Annu. Conf. Robot Learn.","author":"Ravichandar","year":"2017"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9758-x"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2159412"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2012.728692"},{"key":"ref34","first-page":"327","article-title":"Neurally imprinted stable vector fields","author":"Lemme","year":"2013","journal-title":"Proc. Eur. Symp. Artif. Neural Netw."},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICInfA.2015.7279303"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2705279"},{"issue":"7","key":"ref37","first-page":"1771","article-title":"A robot skill learning method based on improved stable estimator of dynamical systems","volume":"48","author":"Jin","year":"2022","journal-title":"Acta Automatica Sinica"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.03.001"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.04.006"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2016.06.018"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2017.7963165"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2019.01.002"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696505"},{"key":"ref44","first-page":"466","article-title":"The Lyapunov neural network: Adaptive stability certification for safe learning of dynamical systems","volume-title":"Proc. Conf. Robot Learn.","author":"Richards","year":"2018"},{"key":"ref45","first-page":"1341","article-title":"Learning stability certificates from data","volume-title":"Proc. Conf. Robot Learn.","author":"Boffi","year":"2020"},{"key":"ref46","first-page":"11128","article-title":"Learning stable deep dynamics models","volume-title":"Proc. Int. Conf. Neural Inf. Process. Syst.","author":"Manek","year":"2019"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/3206.001.0001"},{"key":"ref48","volume-title":"Convex Optimization","author":"Boyd","year":"2014"},{"key":"ref49","article-title":"LASA handwriting data set","author":"Khansari-Zadeh","year":"2021"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3204350"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10352149\/10226460.pdf?arnumber=10226460","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,20]],"date-time":"2023-12-20T01:17:27Z","timestamp":1703035047000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10226460\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12]]},"references-count":50,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3303011","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12]]}}}