Lechner, Mathias, Ramin Hasani, Daniela Rus, and Radu Grosu. “Gershgorin Loss Stabilizes the Recurrent Neural Network Compartment of an End-to-End Robot Learning Scheme.”https://doi.org/10.1109/ICRA40945.2020.9196608__In Proceedings - IEEE International Conference on Robotics and Automation, 5446–52. IEEE, 2020.https://doi.org/10.1109/ICRA40945.2020.9196608 .