A Experiment Details

Source code for the training pipeline, tasks, and models used in this work, is available as part of the supplementary material. We used the same Adam [48] optimizer for all our experiments and a learning rate of 0.001, and a batch size of 128. For solving the differential equations both during ground truth data generation as well as with the neural ODEs, we use the Tsitouras 5/4 Runge-Kutta (Tsit5) method from DifferentialEquations.jl [36]. A.1 Coupled Pendulum The coupled pendulum dynamics are defined as We train the MP-NODE on a dataset of 500 trajectories, each randomly initialized with state values between [ π/2, π/2] for the θ and [ 1, 1] for θ, with a time step of 0.1s and each trajectory 10s long. The dataset is normalized through Z-score normalization.