# pylqr

**Repository Path**: dujinyu/pylqr

## Basic Information

- **Project Name**: pylqr
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-06-11
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# pylqr
An implementation of iLQR for trajectory synthesis and control. Use finite difference to approximate gradients and hessians if they are not provided. Also support automatic differentiation with numpy from [jax](https://github.com/google/jax). Include an inverted pendulum example as the test case.

Dependencies:

Numpy

Matplotlib (Only for the test)

[jax](https://github.com/google/jax) (Only for automatic differentiation)

[pytorch](https://pytorch.org/) (Only for learning-based MPC test)