Conference PaperWatch and Learn: Learning to control feedback linearizable systems from expert demonstrationsSultangazin, Alimzhan; Pannocchi, Luigi; Fraile, Lucas; Tabuada, PauloIn this paper, we revisit the problem of learning a stabilizing controller from a finite number of demonstrations by an expert. By focusing on feedback linearizable systems, we show how to combine expert demonstrations into a stabilizing controller, provided that demonstrations are sufficiently long and there are at least n+1 of them, where n is the number of states of the system being controlled. The results are experimentally demonstrated on a CrazyFlie 2.0 quadrotor.2022-05-23104119152022 International Conference on Robotics and Automation (ICRA)8577 to 8583https://doi.org/10.1109/ICRA46639.2022.98120541705135National Science Foundation