The iLQG nominal rollout, defined here, is inefficient. We should do this with a threadpool that rolls out with a parallel "line search" on the feedback term, that includes a 0 coefficient (no feedback, just open-loop). For this, the Action method should also get a feedback_scale parameter (defaulting to 1), and this line should use mju_addToScl.
This is a very simple change that I suspect will improve iLQG significantly.
The iLQG nominal rollout, defined here, is inefficient. We should do this with a threadpool that rolls out with a parallel "line search" on the feedback term, that includes a 0 coefficient (no feedback, just open-loop). For this, the
Action
method should also get afeedback_scale
parameter (defaulting to 1), and this line should usemju_addToScl
.This is a very simple change that I suspect will improve iLQG significantly.