In Isaac Gym simulation, Lagrangian-structured dynamics models learn faster and predict motion more accurately than a plain MLP, but the headline 10x and 2-10x numbers are not fully supported.
Simplifying hamiltonian and lagrangian neural networks via explicit constraints,
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Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion
In Isaac Gym simulation, Lagrangian-structured dynamics models learn faster and predict motion more accurately than a plain MLP, but the headline 10x and 2-10x numbers are not fully supported.