VHYDRO is a support-safe variational hybrid filter that jointly recovers continuous latent states, discrete contact modes, and sparse port-Hamiltonian laws per regime while preventing loss of feasible transitions.
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences , volume=
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Support-Safe Variational Hybrid Filtering for Contact-Mode and Sparse-Law Recovery
VHYDRO is a support-safe variational hybrid filter that jointly recovers continuous latent states, discrete contact modes, and sparse port-Hamiltonian laws per regime while preventing loss of feasible transitions.