Lifting non-conservative, actuated, and contact-constrained robot dynamics into an exactly symplectic phase-space map yields state-of-the-art out-of-distribution autoregressive rollout error at low parameter and FLOP cost.
Efficiently Parameterized Neural Metriplectic Systems
2 Pith papers cite this work. Polarity classification is still indexing.
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abstract
Metriplectic systems are learned from data in a way that scales quadratically in both the size of the state and the rank of the metriplectic data. Besides being provably energy conserving and entropy stable, the proposed approach comes with approximation results demonstrating its ability to accurately learn metriplectic dynamics from data as well as an error estimate indicating its potential for generalization to unseen timescales when approximation error is low. Examples are provided which illustrate performance in the presence of both full state information as well as when entropic variables are unknown, confirming that the proposed approach exhibits superior accuracy and scalability without compromising on model expressivity.
representative citing papers
Hamiltonian Graph Networks achieve 150-600x faster training via random feature parameter construction while retaining comparable accuracy and physical invariances on N-body systems up to 10,000 particles.
citing papers explorer
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CaLiSym: Learning Symplectic Dynamics of Real-World Systems through Structured Canonical Lifts
Lifting non-conservative, actuated, and contact-constrained robot dynamics into an exactly symplectic phase-space map yields state-of-the-art out-of-distribution autoregressive rollout error at low parameter and FLOP cost.
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Rapid training of Hamiltonian graph networks using random features
Hamiltonian Graph Networks achieve 150-600x faster training via random feature parameter construction while retaining comparable accuracy and physical invariances on N-body systems up to 10,000 particles.