WASP derivative reuse speeds up MuJoCo MPC by 1.26–2.08x versus finite differences on selected locomotion tasks, with comparable task costs.
Todorov and Weiwei Li
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Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives
WASP derivative reuse speeds up MuJoCo MPC by 1.26–2.08x versus finite differences on selected locomotion tasks, with comparable task costs.