“…Indeed, since CTRNNs are known to be universal dynamics approximators [15,26,9], they can also be interpreted as simply convenient building blocks out of which any desired dynamics can be constructed. CTRNNs and closely-related models have been the subject of extensive dynamical analysis [17,39,11,10,21,35,20,12,7,6,41,23,37,32,19,14,8].…”