Added halton-spline sampling, discounted cost, and mean update with gradient.
It is now possible to select the mppi mode and sampling distribution:
'simple' is the previous mppi with random sampling and naive mean update.
'halton-spline' shifts the noise distribution using gradient of the optimal control sequence and implements cost discount. In 'halton-spline' it is possible to use 'halton' splines samples or 'random' samples.
Added also lambda_update but it requires more investigation, set to False by default. Future mppi improvements should also contain covariance update
Added halton-spline sampling, discounted cost, and mean update with gradient.
It is now possible to select the mppi mode and sampling distribution:
Added also lambda_update but it requires more investigation, set to False by default. Future mppi improvements should also contain covariance update