Lie group forced variational integrator networks for learning and control of robot systems

V Duruisseaux, TP Duong, M Leok… - … for Dynamics and …, 2023 - proceedings.mlr.press
Incorporating prior knowledge of physics laws and structural properties of dynamical
systems into the design of deep learning architectures has proven to be a powerful …

A variational formulation of accelerated optimization on Riemannian manifolds

V Duruisseaux, M Leok - SIAM Journal on Mathematics of Data Science, 2022 - SIAM
It was shown recently by W. Su, S. Boyd, and E. Candes, J. Mach. Learn. Res., 17 (2016),
pp. 1--43 that Nesterov's accelerated gradient method for minimizing a smooth convex …

Practical perspectives on symplectic accelerated optimization

V Duruisseaux, M Leok - Optimization Methods and Software, 2023 - Taylor & Francis
Geometric numerical integration has recently been exploited to design symplectic
accelerated optimization algorithms by simulating the Bregman Lagrangian and Hamiltonian …

Projected Neural Differential Equations for Learning Constrained Dynamics

A White, A Büttner, M Gelbrecht, V Duruisseaux… - arXiv preprint arXiv …, 2024 - arxiv.org
Neural differential equations offer a powerful approach for learning dynamics from data.
However, they do not impose known constraints that should be obeyed by the learned …

Variational Principles for Hamiltonian Systems

BK Tran, M Leok - arXiv preprint arXiv:2410.02960, 2024 - arxiv.org
Motivated by recent developments in Hamiltonian variational principles, Hamiltonian
variational integrators, and their applications such as to optimization and control, we present …

Comparative Analysis of Physical Correctness of Models Using Classical and Variational Integrators

I Moiseev - 2024 International Conference on Industrial …, 2024 - ieeexplore.ieee.org
This article considers the problem of modeling mechanical systems using classical
integrators, such as Runge-Kutta method or explicit Euler method, associated with the decay …

Fast symplectic integrator for Nesterov-type acceleration method

S Goto, H Hino - Japan Journal of Industrial and Applied Mathematics, 2024 - Springer
In this paper, explicit stable integrators based on symplectic and contact geometries are
proposed for a family of non-autonomous ordinarily differential equations (ODEs) found in …

[图书][B] Symplectic Numerical Integration at the Service of Accelerated Optimization and Structure-Preserving Dynamics Learning

V Duruisseaux - 2023 - search.proquest.com
Symplectic numerical integrators for Hamiltonian systems form the paramount class of
geometric numerical integrators, and have been very well investigated in the past forty …

Bregman dynamics, contact transformations and convex optimization

A Bravetti, ML Daza-Torres, H Flores-Arguedas… - Information …, 2023 - Springer
Recent research on accelerated gradient methods of use in optimization has demonstrated
that these methods can be derived as discretizations of dynamical systems. This, in turn, has …