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Found 2 papers, 1 papers with code
Structure-Preserving Learning Using Gaussian Processes and Variational Integrators
When using Gaussian process regression to learn unknown systems, a commonly considered approach consists of learning the residual dynamics after applying some generic discretization technique, which might however disregard properties of the underlying physical system.
Linear-Time Variational Integrators in Maximal Coordinates
Most dynamic simulation tools parameterize the configuration of multi-body robotic systems using minimal coordinates, also called generalized or joint coordinates.
Robotics Computational Physics
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