Regularized iterative linear quadratic regulator converges to a stationary point with O(1/epsilon^2) calls to an automatic differentiation oracle, with an accelerated variant under convexity.
Numerical methods for least squares problems
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Iterative Linearized Control: Stable Algorithms and Complexity Guarantees
Regularized iterative linear quadratic regulator converges to a stationary point with O(1/epsilon^2) calls to an automatic differentiation oracle, with an accelerated variant under convexity.