Brandon Amos

This is useful if the controller consistently does **not** hit a fixed point

Non-quadratic slew rate line search

2

If I understand correctly, https://github.com/locuslab/mpc.pytorch/commit/206bd939ec1479424221a62ed45ad26830849fcc does the LQR step with the slew rate penalty in the quadratic cost approximation, but does the line search on the unmodified `cost` function without...

Alternatively `QuadCost(q, c, diag=True)`

+ [ ] Forward pass without slew rate + [ ] Backward pass without slew rate + [ ] Forward pass with slew rate + [ ] Backward pass with...

+ **Current:** Fixed number of iters or a threshold on the full action step norm + It would also be nice to stop based on the absolute or relative change...

I also don't like having the `x.requires_grad` conditional in `detach_maybe` since it hides if that tensor is detached or not. \cc @ivandariojr

Returning and differentiating through the dual

4

With `diffcp`, we can use `adjoint_derivative` to differentiate through the primal and dual solutions w.r.t. the coefficients. It would be convenient to expose the dual here too and the only...

Continuation of #100