Learning Stable Deep Dynamics Models for Partially Observed or Delayed Dynamical Systems

Learning how complex dynamical systems evolve over time is a key challenge in system identification. For safety critical systems, it is often crucial that the learned model is guaranteed to converge to some equilibrium point. To this end, neural ODEs regularized with neural Lyapunov functions are a promising approach when states are fully observed. For practical applications however, {\em partial observations} are the norm. As we will demonstrate, initialization of unobserved augmented states can become a key problem for neural ODEs.