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libcvc
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ph: the learned SE(2) port-Hamiltonian vehicle, trained natively (cvc::ph)
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Oct 21, 2026
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ph: the learned SE(2) port-Hamiltonian vehicle, trained natively (cvc::ph)
#758
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master
transfix/libcvc:master
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feat/ph-native
transfix/libcvc:feat/ph-native
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physics: log nav_plant runs for fitting a plant model, and dyn_plant's residual against Jolt
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physics_plant_log_test: a model's own run leaves it no residual to rounding (1e-9)
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plant_log: fit dyn_bike to the plant; city-bundle routes that get driven; gentler margins
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roadmap: dyn_plant's residual against Jolt, refreshed, and dyn_bike fitted to Jolt
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plant_log test: close the .npy before removing it, as Windows refuses to delete an open file
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Merge remote-tracking branch 'origin/master' into feat/plant-log-liesphgp
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plant_log: the scenes in the library, `cvc plant-log` in cvc-cli
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Merge remote-tracking branch 'origin/master' into feat/plant-log-liesphgp
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roadmap: dyn_plant's residual and the refits after #753's Jolt-fitted dyn_bike_si_of
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ph: the learned SE(2) port-Hamiltonian vehicle, natively, at parity with the JAX package
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ph: train the learned SE(2) vehicle natively (rollout loss), and cvc ph-train
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ph-train: report the training windows whose rollout diverged; CLI tests
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cvc-cli: ph-train beside plant-log in the Vehicle Physics group
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ph-train --init: continue a model with its own input and twist scales
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Merge remote-tracking branch 'origin/master' into feat/ph-native
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