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Learning Articulated Rigid Body Dynamics with Lagrangian Graph Neural Network
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| use LGNN instead of GNS, LGN and CLNN baselines | 4-link chain · energy violation and rollout error | relative error | Helped |
| zero-shot transfer from 4-link training to 8-, 16- and 100-link chains | LGNN · n-link chains | rollout and energy error | No clear effect |
| zero-shot transfer from 4-link training to larger chains | GNS · n-link chains | rollout and energy error | Hurt |
| zero-shot transfer to tensegrity structures T1-T3 | LGNN vs GNS · tensegrity structures | energy and rollout error: ~10^{-4} for LGNN; GNS error rises to 1 | Helped |
| add varying link properties or linear drag to the 4-link system | LGNN · 4-link chain | energy and rollout error | No clear effect |
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