The paper introduces a general geometric setting for describing Poisson geometric integrators when the problem evolves on an integrable Poisson manifold. It provides a method for approximating the Hamilton-Jacobi equation using machine learning-inspired techniques. The key observation is that Poisson diffeomorphisms can be described through Lagrangian submanifolds in the symplectic groupoid integrating the Poisson manifold. The Hamilton-Jacobi equation characterizes these Lagrangian submanifolds, and the authors propose to solve it using optimization techniques and neural networks. The approach is illustrated using the rigid body as an example, showing the preservation of the Hamiltonian and Casimir functions.
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