Very amazing job, but i'm sorry to raise some comprehension questions that i'm stucked with. Given that ilqr need to resolve the Qu,Quu,Qxu by fu,fx. In this work ,the input u has been fisrtly fed into a NN then influence the x，then how can the automatic differentiation in jax describe the connection between status x and input u.
Hope for instruction.
Best regrads.
Very amazing job, but i'm sorry to raise some comprehension questions that i'm stucked with. Given that ilqr need to resolve the Qu,Quu,Qxu by fu,fx. In this work ,the input u has been fisrtly fed into a NN then influence the x，then how can the automatic differentiation in jax describe the connection between status x and input u. Hope for instruction. Best regrads.