Review examples for dynamic optimal control; fix iLQR

ipab-slmc / exotica

Extensible Optimization Framework

https://ipab-slmc.github.io/exotica

BSD 3-Clause "New" or "Revised" License

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Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

Makes iLQR faster by using a backtracking line-search and stopping early (like DDP solvers)
Updates some of the examples to work again, and faster

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