@article{trainingstructuredmechanicalmodelsby,
  title = {Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual},
  author = {Kunal Menda and Jayesh K. Gupta and Zachary Manchester and Mykel J. Kochenderfer},
  year = {2021},
  eprint = {2105.01811},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.01811v1},
}