why action controll residuals are crucial?
MyelinsheathXD opened this issue · 1 comments
MyelinsheathXD commented
hey folks!
I have been trying to optimize humanoid task with minimizing residual count.
I have changed controll resuals with 2 ways
1-totally removing the action control residuals
2- combining all action control residuals into one variable residual
both ways made the iLQG to fail.
My question : Is there way to decrese residual count of action controll and keep the optimizer as stable as possible?
if not why?
yuvaltassa commented
No. See equation 5b here.
iLQG need a positive definite Quu.