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Thanks for your project. There are some issues about it. Specifically, in the Main_ILQR.m and LMA_ILQR.m, what is the meaning of "ss", "c2d", and "dare"? When running the project, it always fails beca…
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Will revert to the last working version for experiments until a fix is found
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The current controller design doesn't allow the user to get the intermediate trajectory optimization for a chosen optimizer in a controller (LQR, iLQR, MPPI, etc.) after running the controller. I sugg…
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I am solving some problem, which is a dynamics with a large delay. Can I use ilqr solve it? How?
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It seems the following line computes new action without any use of nominal trajectory:
https://github.com/cbfinn/gps/blob/82fa6cc930c4392d55d2525f6b792089f1d2ccfe/python/gps/algorithm/traj_opt/traj_o…
sklaw updated
4 years ago
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Hi! I'm learning DDP method recently and also upvoted your brilliant implementation. It seems like you are using the MPC version of ilqr? I change it into normal version but it does not converged any …
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hi作者你好,
非常感谢你的这项工作
我在阅读这项工作的时候仍然存在一些疑问希望可以请教一下,谢谢
在代码里Quu的表达式似乎和原论文(ILQR)里的两种正则化形式都是不一样的,想请问这个该怎么理解。
![screenshot-20240320-151900](https://github.com/LiJiangnanBit/path_optimizer_ilqr/assets/11081…
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我没有ros环境,移植了您的代码,使用混合A*的搜索结果为其提供了初始点、终止点击reference point, 可是平滑后的结果很奇怪,只有曲率能满足要求,x,y,theta都与目标值相差很大。
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Make the Following controllers for all the examples:
1. Optimal Control (LQR, iLQR, DDP)
2. Predictive Control (different variations of MPC)
3. Reinforcement Learning Based Controllers (Linear as w…
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Hi,
I am using a python environment named Firedrake (PDE solver) together with another libraries called pygmsh to implement a dynamical system inside the function **f(x,u)**. When I try to run the…