@Article{Menda2021residuals,
  author  = {Kunal Menda and Jayesh K. Gupta and Zachary Manchester and Mykel J. Kochenderfer},
  journal = arxiv,
  title   = {Training structured mechanical models by minimizing discrete {E}uler-{L}agrange residuals},
  year    = {2021},
  number  = {2105.01811},
  url     = {https://arxiv.org/abs/2105.01811},
}

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