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Releases: iit-DLSLab/mpx

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V0.2

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@lorenzo96-cmd lorenzo96-cmd released this 20 Jul 09:51
v0.2
f578bf8
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Learn about vigilant mode.

What's Changed

  • refactor cost function + add Spot and Spot with Arm by @Schulze18 in #19
  • Constrained solver formulation by @lorenzo96-cmd in #20
    • Equality Constrained Primal-dual/Fddp
    • Inequality Constraint Primal-dual with Interior Point Method
  • Switch Pixi installation by @lorenzo96-cmd in #20

New Contributors

Full Changelog: v0.1...v0.2

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Schulze18 and lorenzo96-cmd
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V0.1

V0.1

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@lorenzo96-cmd lorenzo96-cmd released this 13 Apr 14:33
v0.1
6f830d2
This commit was created on GitHub.com and signed with GitHub’s verified signature.
GPG key ID: B5690EEEBB952194
Verified
Learn about vigilant mode.

What's Changed

  • MPX now supports both Primal dual LQR and the NEW GPU-FDDP a GPU-friendly version of Crocoddyl. Just change the flang solver_mode = "fddp" or "primal_dual in the config file, to try both.

  • MPCWrapper now substitutes both BatchedMPCControllerWrapper and MPCControllerWrapper. You can now use the same mpc utils for both single and batched environments.

Minor changes

  • New offline examples: Acrobot swing up, Humanoid jump, Quadruped barrel roll, Quadruped trot
  • Removed dependency from iit-dls/gym-quaduped
  • Bug fix in Filer Line Search
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