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02/20/2023
Simplifying Momentum-based Riemannian Submanifold Optimization
Riemannian submanifold optimization with momentum is computationally cha...
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11/29/2022
Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems
Incorporating prior knowledge of physics laws and structural properties ...
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05/05/2022
Geometric Methods for Adjoint Systems
Adjoint systems are widely used to inform control, optimization, and des...
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02/19/2022
Safe Control Synthesis with Uncertain Dynamics and Constraints
This paper considers safe control synthesis for dynamical systems in the...
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02/01/2022
Discrete Dirac reduction of implicit Lagrangian systems with abelian symmetry groups
This paper develops the theory of discrete Dirac reduction of discrete L...
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01/26/2022
High-order symplectic Lie group methods on SO(n) using the polar decomposition
A variational integrator of arbitrarily high-order on the special orthog...
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04/15/2021
Accelerated Optimization on Riemannian Manifolds via Discrete Constrained Variational Integrators
A variational formulation for accelerated optimization on normed spaces ...
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03/16/2021
Variational Structures in Cochain Projection Based Variational Discretizations of Lagrangian PDEs
Compatible discretizations, such as finite element exterior calculus, pr...
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01/19/2021