Lagrangian Gaussian Processes use discrete Euler-Lagrange equations to condition GPs, preserving geometric structure for stable dynamics learning from sparse position snapshots without velocities.
On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control.IEEE Robotics and Automation Letters, 5(2):1001–1008, 2020
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Structure-Preserving Gaussian Processes Via Discrete Euler-Lagrange Equations
Lagrangian Gaussian Processes use discrete Euler-Lagrange equations to condition GPs, preserving geometric structure for stable dynamics learning from sparse position snapshots without velocities.