{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/iterative-linear-quadratic-optimization-for","title":"Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates","arxiv_id":"2207.06362","date":"2022-07-13","proceeding":null,"authors":["Vincent Roulet","Siddhartha Srinivasa","Maryam Fazel","Zaid Harchaoui"],"abstract":"We present the implementation of nonlinear control algorithms based on linear and quadratic approximations of the objective from a functional viewpoint. We present a gradient descent, a Gauss-Newton method, a Newton method, differential dynamic programming approaches with linear quadratic or quadratic approximations, various line-search strategies, and regularized variants of these algorithms. We derive the computational complexities of all algorithms in a differentiable programming framework and present sufficient optimality conditions. We compare the algorithms on several benchmarks, such as autonomous car racing using a bicycle model of a car. The algorithms are coded in a differentiable programming language in a publicly available package.","url_abs":"https://arxiv.org/abs/2207.06362v1","url_pdf":"https://arxiv.org/pdf/2207.06362v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"iterative-linear-quadratic-optimization-for","repo_url":"https://github.com/vroulet/ilqc","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"car-racing","task_name":"Car Racing"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}