{"paper":{"title":"Learning Dynamics under Environmental Constraints via Measurement-Induced Bundle Structures","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Dongzhe Zheng, Wenjie Mei","submitted_at":"2025-05-26T05:07:57Z","abstract_excerpt":"Learning unknown dynamics under environmental (or external) constraints is fundamental to many fields (e.g., modern robotics), particularly challenging when constraint information is only locally available and uncertain. Existing approaches requiring global constraints or using probabilistic filtering fail to fully exploit the geometric structure inherent in local measurements (by using, e.g., sensors) and constraints. This paper presents a geometric framework unifying measurements, constraints, and dynamics learning through a fiber bundle structure over the state space. This naturally induced"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.19521","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2505.19521/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}