An n-dimensional hybrid system embeds into a continuous vector field in m > 2n dimensions, enabling latent Neural ODEs with consistency losses to recover hybrid flows from time series.
arXiv preprint arXiv:2512.10117 , year=
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LieIPM applies a structure-preserving interior point optimizer to rigid-body trajectory planning on Lie groups using variational integrators and closed-form intrinsic derivatives.
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Embedding Hybrid Systems into Continuous Latent Vector Fields
An n-dimensional hybrid system embeds into a continuous vector field in m > 2n dimensions, enabling latent Neural ODEs with consistency losses to recover hybrid flows from time series.
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LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
LieIPM applies a structure-preserving interior point optimizer to rigid-body trajectory planning on Lie groups using variational integrators and closed-form intrinsic derivatives.