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ipab-slmc
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exotica
Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
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Recent research updates
#723
Closed
wxmerkt
closed
3 years ago
wxmerkt
commented
3 years ago
Highlights
Analytic Hessians
Dynamic taskmaps - i.e.
phi(x,u)
rather than
phi(q)
Semi-implicit integration scheme
Correct derivatives for state transition functions and difference/integration operations
Changed CollisionScene to its own initializer, rework CollisionScene setup
More unit tests
BoxFDDP
Sparsity-inducing control costs
Efficiency improvements all-around
Highlights
phi(x,u)
rather thanphi(q)