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cs.LG2026
Structure-Preserving Gaussian Processes Via Discrete Euler-Lagrange Equations
Jan-Hendrik Ewering, Kathrin Flaßkamp, Niklas Wahlström +2
In this paper, we propose Lagrangian Gaussian Processes (LGPs) for probabilistic and data-efficient learning of dynamics via discrete forced Euler-Lagrange equations. Importantly,…
eess.SY2026
Simultaneous State Estimation and Online Model Learning in a Soft Robotic System
Jan-Hendrik Ewering, Max Bartholdt, Simon F. G. Ehlers +3
Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is ty…