Improve the iLQR stopping conditions

locuslab / mpc.pytorch

A fast and differentiable model predictive control (MPC) solver for PyTorch.

https://locuslab.github.io/mpc.pytorch/

MIT License

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Open bamos opened 6 years ago

bamos commented 6 years ago

Current: Fixed number of iters or a threshold on the full action step norm
It would also be nice to stop based on the absolute or relative change in cost if the user doesn't care about hitting a fixed point.