why action controll residuals are crucial?

google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

https://github.com/deepmind/mujoco_mpc

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why action controll residuals are crucial? #329

Closed MyelinsheathXD closed 4 months ago

MyelinsheathXD commented 4 months ago

hey folks! I have been trying to optimize humanoid task with minimizing residual count. I have changed controll resuals with 2 ways 1-totally removing the action control residuals 2- combining all action control residuals into one variable residual

both ways made the iLQG to fail. My question : Is there way to decrese residual count of action controll and keep the optimizer as stable as possible? if not why?

yuvaltassa commented 4 months ago

No. See equation 5b here. iLQG need a positive definite Quu.