arxivcs.ROcs.LG2026-07-07
CaLiSym: Learning Symplectic Dynamics of Real-World Systems through Structured Canonical Lifts
Aristotelis Papatheodorou, Pranav Vaidhyanathan, Natalia Ares, Ioannis Havoutis, Gerard J. Milburn
Physics-informed learning promises data-efficient and stable dynamics prediction, yet its strongest geometric guarantees have largely remained confined to closed conservative systems. This excludes robotic systems of interest, where actuation, dissipation, and constraints exchang…