Lagrangian Methods

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Period ending 2026-09-14

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Period ending 2026-09-07

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42 papers

Latest in Lagrangian Methods

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Lie-Algebraic Bell Recurrences for Arbitrary-Order Twist Jets and Parallel-Mechanism Closure
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A Lagrangian View of Flow Matching
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LaGSplat: Inferring Physics-Governed Interactive Simulation from Monocular Video Using Latent Lagrangian Gaussian Splatting
Aug 17, 2026Louen PottierDeformable Objects Lagrangian Methods
History-informed Lagrangian Neural Networks
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Hybrid Lagrangian-Eulerian Model for Lagrangian Fluid Simulation
Aug 2, 2026Ruoyan Li, Wei Wang, Yizhou SunLagrangian Methods Hybrid
A note on the motion representation and configuration update in time stepping schemes for the constrained rigid body
Jul 27, 2026A. MüllerRigid-Body Dynamics Lie Group
Physics-Informed Neural Networks for Discovering Periodic Orbits in the Gravitational Three-Body Problem
Jul 26, 2026Nikolaos Kollias, Nikolaos MatzakosConventional Physics-Informed Neural Networks Orbital-Free Density
Hybrid Augmented Lagrangian Method for General Constrained Optimization via Evolutionary Algorithms
Jul 18, 2026Lampros Printzios, Konstantinos ChatzilygeroudisConstrained Optimization Evolutionary Algorithms
Learning Forced Multibody Dynamics on Lie Groups
Jul 14, 2026Martine Dyring Hansen, Marta Ghirardelli, Elena Celledoni +2Lagrangian Methods Rigid-Body Dynamics
Nonconvex Composite Functional Constraints via First-Order Augmented Lagrangian Methods under Local Regularity
Jul 9, 2026Linglingzhi Zhu, Jiajin LiPrimal-Dual Methods Nonconvex
Input-Constrained Spatiotemporal Tubes for Safe Navigation of Unknown Euler-Lagrange Systems in Dynamic Environments
Jul 9, 2026Siddhartha Upadhyay, Ratnangshu Das, Pushpak JagtapRobust Control Safety Constraints
Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints
Jul 8, 2026Ahan Basu, Ratnangshu Das, Soumyodipta Nath +2Lagrangian Methods Inference-Time Control
CaLiSym: Learning Symplectic Dynamics of Real-World Systems through Structured Canonical Lifts
Jul 7, 2026Aristotelis Papatheodorou, Pranav Vaidhyanathan, Natalia Ares +2Lagrangian Methods Latent Dynamics
Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems
Jul 1, 2026Ratnangshu Das, Puneeth Shankar, Varuni Buereddy +2Generalizable Robot Control Lagrangian Methods
A Bayesian Filtering Approach for Learning Lagrangian Dynamics from Noisy Measurements
Jun 30, 2026Kundan Kumar, Shreya Das, Simo SärkkäBayesian Filtering Lagrangian Methods
Wind and State Estimation on SE(3): Comparative Evaluation of EKF and UKF with Continuous and Discrete Quadrotor Models
Jun 29, 2026Hiranya Udagedara, Adam Bigsby, Mahdis BishebanUrban Wind Quadrotor Control
Lagrange: An Open-Vocabulary, Energy-Based Sparse Framework for Generalized End-to-End Driving
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CSPO: Constraint-Sensitive Policy Optimization for Safe Reinforcement Learning
Jun 12, 2026Ayoub Belouadah, Sylvain Kubler, Yves Le TraonSafety Constraints Safe Reinforcement Learning
The Standard Interpretable Model: A general theory of interpretable machine learning to deductively design interpretable methods using Lagrangian mechanics
Jun 10, 2026Pietro Barbiero, Giovanni De Felice, Mateo Espinosa Zarlenga +5Mechanistic Interpretability Artificial Intelligence Models
Physics-Aware Sparse Learning and Selective Online Adaptation for Euler-Lagrange Robot Dynamics
Jun 8, 2026Rishabh Dev Yadav, Samaksh Ujjawal, Sihao Sun +2Generalizable Robot Control Lagrangian Methods
OnlyDense: Reduced-Order Modeling for Lagrangian simulation
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Scaling Decision-Focused Learning to Large Problems with Lagrangian Decomposition
Jun 7, 2026Stéphane Eilles-Chan Way, Hugo Percot, Quentin Cappart +2Surrogate Gradient Large Output Spaces
SLAP: The Semantic Least Action Principle for Variational Video-Language Modeling
May 29, 2026Xiang Fang, Wanlong FangVideo-Language Models Lagrangian Methods
Learning effective Sargassum transport dynamics from limited drifter observations
May 28, 2026F. J. Beron-VEra, M. J. Olascoaga, J. Morell +1Drift Statistic Lagrangian Methods
L-Learning : A Lyapunov-Based Approach Leveraging Lagrangian Mechanics for Efficient and Stable Robot Tracking
May 26, 2026Quan Quan, Hao LiGeneralizable Robot Control Lyapunov Function
Beyond Isotropy in JEPAs: Hamiltonian Geometry and Symplectic Prediction
May 19, 2026Robert Jenkinson AlvarezSphere-Jepa Joint-Embedding Predictive Architectures
Physics-Informed Graph Neural Network Surrogates for Turbulent Nanoparticle Dispersion in Dental Clinical Environments
May 19, 2026Takshak Shende, Viktor PopovComputational Fluid Dynamic Graph Neural Networks
Lagrangian Flow Matching: A Least-Action Framework for Principled Path Design
May 14, 2026Shukai Du, Junzhe Zhang, Yiming LiConditional Flow Matching Velocity Field
WorldParticle: Unified World Simulation of Lagrangian Particle Dynamics via Transformer
May 14, 2026Caoliwen Wang, Minghao Guo, Siyuan Chen +13Physics Simulation Deformable Objects
Augmented Lagrangian Method for Last-Iterate Convergence for Constrained MDPs
May 12, 2026Michael Lu, Max Qiushi Lin, Mo Chen +1Markov Decision Processes Finite Planning Horizon
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May 10, 2026Ningxiao Tao, Baoquan Chen, Mengyu ChuVelocity Field Representation-Based Dynamic Reconstruction
A Call to Lagrangian Action: Learning Population Mechanics from Temporal Snapshots
May 8, 2026Vincent Guan, Lazar Atanackovic, Kirill NeklyudovLagrangian Methods Population Dynamics
Learned Lagrangian Models of PDEs via Euler-Lagrange Residual Minimization
May 8, 2026Lyra Zhornyak, Eric Forgoston, M. Ani HsiehLagrangian Methods Euler Discretization
Learned Lyapunov Shielding for Adaptive Control
May 7, 2026Giansalvo Cirrincione, Adriano FagioliniRobust Control Lyapunov Function
Temporal Attention for Adaptive Control of Euler-Lagrange Systems with Unobservable Memory
May 7, 2026Giansalvo Cirrincione, Adriano FagioliniRobust Control Actuator
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
May 7, 2026Ahmed Ali, Chiara Gabellieri, Antonio FranchiLie Group Lagrangian Methods
Structure-Preserving Gaussian Processes Via Discrete Euler-Lagrange Equations
May 7, 2026Jan-Hendrik Ewering, Kathrin Flaßkamp, Niklas Wahlström +2Lagrangian Methods Gaussian Process
Sensorless State Estimation and Control for Agile Cable-Suspended Payload Transport by Quadrotors
May 5, 2026Ana Maria Nascimento, Augusto Sales, Antonio Marcus Lima +1Aerial Manipulation Cable
Augmented Lagrangian Multiplier Network for State-wise Safety in Reinforcement Learning
May 1, 2026Jiaming Zhang, Yujie Yang, Yao Lyu +2Safety Constraints Lagrangian Methods
An ALE-Consistent Graph Neural Operator-Transformer Framework for Fluid-Structure Interaction
May 1, 2026Shihang Zhao, Martín Saravia, Haokui Jiang +2Fluid Dynamics Physics-Informed Deep Learning
Machine Learning Hamiltonian Dynamical Systems with Sparse and Noisy Data
Apr 19, 2026Vedanta Thapar, Abhinav GuptaHamiltonian Dynamics Dynamical Systems
Recursive Entropic Variational Inference for Nonlinear State-Space Models
Nov 19, 2025Hany Abdulsamad, Ángel F. García-Fernández, Simo SärkkäVariational Inference State Space Models

Sep 11, 2026 · cs.ROJ/K move · Enter open · S save

Lie-Algebraic Bell Recurrences for Arbitrary-Order Twist Jets and Parallel-Mechanism Closure

Daniel Condurache

This paper develops an arbitrary-order kinematic construction that links serial propagation, parallel-mechanism closure, and rigid-platform point fields within one dual screw framework. A cylindrical joint is retained as one native physical block, with revolute and prismatic joints obtained as special cases. For each fixed joint axis, ordinary Bell polynomials organize the derivatives of the exponential factor; across a chain, the noncommuting factors remain in their physical order. Initial-frame prefix and terminal-resolved covariant formulas then produce equivalent representations of the serial twist jet. For a parallel mechanism, repeated Leibniz differentiation, with joint-level derivatives organized by Bell polynomials, yields an arbitrary-order triangular active-passive closure recurrence: the same passive Jacobian is solved at every derivative order at a regular configuration, while the right-hand side contains only prescribed active data and lower-order jets. The resulting platform twist jet is mapped exactly to the point-independent affine invariants of the velocity, acceleration, jerk, and snap fields. The validation is deliberately complementary: a generic 3C chain with noncoplanar axes and nonzero rotational and translational cylindrical coordinates tests ordered serial propagation, an RR+RRR spherical wrist tests active-passive closure, and a Hunt-type 6-RUS mechanism with six active revolute joints tests an independently reconstructed platform jet and its affine fields. Independent differentiation of the rigid motion, evaluation of the affine fields, and the differentiated branch closures all agree through fourth order with residuals below

10^{-12}

in the corresponding SI units. The formulation is purely kinematic and applies at configurations where the selected active-passive partition is regular.

Kinematics Lagrangian Methods Polynomials Parallel Decoding and Training

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