Closed andgoldschmidt closed 10 months ago
All modified and coverable lines are covered by tests :white_check_mark:
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Modifies loss, gradient, and hessian of
QuadraticRegularizer
to use timesteps. That is, the loss is now0.5 * (Δt .* vₜ)' * (R .* ( Δt .* vₜ))
instead of0.5 * vₜ' * (R .* vₜ)
. This enforces an energy (integral) constraint, preventing the optimizer from stretching variable timesteps in order to minimizeQuadraticRegularizer
losses.Closes #47