DiLQR computes gradients of a converged iLQR controller with implicit differentiation, making the backward pass cost constant in the number of solver iterations.
A., Brown, M., and Gerdes, J
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DiLQR: Differentiable Iterative Linear Quadratic Regulator via Implicit Differentiation
DiLQR computes gradients of a converged iLQR controller with implicit differentiation, making the backward pass cost constant in the number of solver iterations.