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Hello, I'm trying to understand the meaning of [this function](https://github.com/studywolf/control/blob/master/studywolf_control/controllers/ilqr.py#L169-L183) in your iLQR code. I wonder why there i…
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![20240529-141457](https://github.com/LiJiangnanBit/path_optimizer_ilqr/assets/55586417/6a2995d2-4dab-4eb5-add1-88a1b35c2672)
dk 不是应该等于控制量 kappa_rate吗。这部分没看懂,方便讲解下吗
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Hi,
Thanks a lot for the great repo! Clean implementation of iLQR and easy to understand, it's really useful.
I have a question though: would it be possible to constrain the possible values of t…
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在代码中看到mu初始化为0.并且在循环中根据求解状态乘2或除2,但是初始化为0能否起到正则化的作用?这块不是很理解,想请教一下谢谢
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It seems that one of the tensors passed to RMSProp is not a leaf tensors (it was created through some operations that were registered in the grad graph).
To reproduce, just execute `python imitatio…
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Whe I apply the iLQR algorithm in order to smooth a trajectory I have (I try to reduce the constrols while not diverging too much from the trajectory to follow) if the trajectory I am considering has …
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您好,感谢开源共享。
我在编译的个过程中出现:
/home/lmm/ws/catkin_path1/src/path_optimizer_ilqr-main/src/solver/solver.h:177:44: error: no match for ‘operator+=’ (operand types are ‘double’ and ‘Eigen::internal::enable…
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Hi,
I am looking for a library to solve batches of trajectory optimization problems (same problem, different initial states) on accelerators, and I've found this library, which looks great! I have…
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Hi and thanks for this package!
Is it possible to apply your solver to a simple (linear quadratic) economics problem:
https://discourse.julialang.org/t/solving-the-4-quadrants-of-dynamic-optimizatio…