Learning Modular Simulations for Homogeneous Systems

Complex systems are often decomposed into modular subsystems for engineering tractability. Although various equation based white-box modeling techniques make use of such structure, learning based methods have yet to incorporate these ideas broadly. We present a modular simulation framework for modeling homogeneous multibody dynamical systems, which combines ideas from graph neural networks and neural differential equations. We learn to model the individual dynamical subsystem as a neural ODE module. Full simulation of the composite system is orchestrated via spatio-temporal message passing between these modules.