A context-conditioned residual Deep Lagrangian Network, combined with an LSTM online identifier and MPC, improves trajectory tracking for a robot arm under unknown loads.
Physically consistent online inertial adaptation for humanoid loco- manipulation,
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Context-Aware Deep Lagrangian Networks for Model Predictive Control
A context-conditioned residual Deep Lagrangian Network, combined with an LSTM online identifier and MPC, improves trajectory tracking for a robot arm under unknown loads.