Tutorials#
Worked examples, from a single LQR solve to differentiating through iLQR. Each notebook explains
the problem, solves it, checks the result and ends with a How to adapt section. The
repository’s examples/ folder has standalone script versions.
Linear Quadratic Regulator (LQR)#
LQR: bringing a double integrator to rest
LQR tracking of a reference trajectory
Iterative LQR (iLQR)#
iLQR: pendulum swing-up
iLQR compared with gradient descent
Implicit gradients through iLQR
Parallel (associative-scan) solvers
iLQR inference: reconstructing a zebrafish tail bout
Batched iLQR: many tracking problems at once
