Lagrangian Gaussian Processes use discrete Euler-Lagrange equations to condition GPs, preserving geometric structure for stable dynamics learning from sparse position snapshots without velocities.
La- grangian Neural Network-Based Control: Improving Robotic Trajectory Tracking via Linearized Feedback.IEEE Robotics and Automation Letters, 11(3):2546–2553
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Structure-Preserving Gaussian Processes Via Discrete Euler-Lagrange Equations
Lagrangian Gaussian Processes use discrete Euler-Lagrange equations to condition GPs, preserving geometric structure for stable dynamics learning from sparse position snapshots without velocities.