Refactor: Enhance IPDDP Solver Options and Forward Pass Logic #117
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1. Modified termination condition 2. Change barrier parameter update 3. Improve hybrid rollout in MSIPDDP
astomodynamics
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Jul 18, 2025
This pull request introduces several improvements and refactorings to the IPDDP solver Key changes include: * Update termination condition for better convergence * Modify barrier parameter update for better convergence * Improve hybrid rollout strategy * Improve filter line-search
astomodynamics
added a commit
that referenced
this pull request
Jul 18, 2025
This pull request introduces several improvements and refactorings to the IPDDP solver Key changes include: * Update termination condition for better convergence * Modify barrier parameter update for better convergence * Improve hybrid rollout strategy * Improve filter line-search
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This pull request introduces several improvements and refactorings to the Interior Point Differential Dynamic Programming ((MS)IPDDP) solver.
Key changes include: