LieSPHGP Results Explorer

← LieSPHGPstochastic port-Hamiltonian GPs on Lie groups · paper results, replayed

LieSPHGP in 37 scollect noisy trajectories → learn the five GP subnetworks → control with IDA-PBC

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Every model is trained in float32 for a fixed 5000 steps; the final checkpoint is used. No physical constants are given to the learned models. Closed-loop flights replay the cached simulator states; open-loop predictions are recomputed from the trained models with the paper's evaluation code.