Optimal potential shaping on SE(3) via neural ordinary differential equations on Lie groups
Yannik P. Wotte,
Federico Califano,
Stefano Stramigioli
Abstract:This work presents a novel approach for the optimization of dynamic systems on finite-dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary differential equations (neural ODEs), and formulate the optimization problem on Lie groups. A gradient descent optimization algorithm is presented to tackle the optimization numerically. Our algorithm is scalable, and applicable to any finite-dimensional Lie group, including matrix Lie groups. By representing the system at the Lie algebra level, … Show more
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