Learning Forced Multibody Dynamics on Lie Groups
We propose an architecture for learning the dynamics of mechanical systems based on discrete forced Euler-Lagrange equations on Lie groups using only position data. By formulating the dynamics directly on manifold-valued configuration spaces, the method naturally respects the geometric structure of the systems and preserves geometric invariants and conservation laws. The reliance on position measurements alone makes the framework applicable in settings where velocity data are unavailable or noisy. The approach extends naturally to multibody systems, accommodates external control inputs, and de
Lineage graph
Paper → model → repo connections mined from source citations (Tier-1 exact match).
Why these links exist
Every edge carries a method, confidence, and the source snippet that justified it — so bad links are debuggable.
- LinkedLinked via arxiv author · 85%Martine Dyring Hansen →
“Learning Forced Multibody Dynamics on Lie Groups”
- LinkedLinked via arxiv author · 85%Marta Ghirardelli →
“Learning Forced Multibody Dynamics on Lie Groups”
- LinkedLinked via arxiv author · 85%Elena Celledoni →
“Learning Forced Multibody Dynamics on Lie Groups”
- LinkedLinked via arxiv author · 85%David Martin de Diego →
“Learning Forced Multibody Dynamics on Lie Groups”
- LinkedLinked via arxiv author · 85%Brynjulf Owren →
“Learning Forced Multibody Dynamics on Lie Groups”