FastDOC uses Gauss-Newton Hessian approximation to create block-sparse positive semidefinite matrices in the differential KKT system, enabling a factor-of-two reduction in factorization complexity and up to 180% empirical speedup over prior auxiliary-system methods for differentiable NMPC.
Title resolution pending
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
eess.SY 1years
2025 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
A Gauss-Newton-Induced Structure-Exploiting Algorithm for Differentiable Optimal Control
FastDOC uses Gauss-Newton Hessian approximation to create block-sparse positive semidefinite matrices in the differential KKT system, enabling a factor-of-two reduction in factorization complexity and up to 180% empirical speedup over prior auxiliary-system methods for differentiable NMPC.