differentiable-mpc

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Hi,

When I use the differentiable mpc in my code (installed using pip), Cuda memory gradually increases each iteration leading to memory error. It seems there is a memory leakage in the code. Do you know where it is and what is the solution?

I use the following parameters: x_pos, control, objs_lqr = mpc.MPC( n_state=n_state, n_ctrl=n_ctrl, T=T, u_lower=u_lower, u_upper=u_upper, lqr_iter=30, verbose=-1, n_batch=n_batch, grad_method=GradMethods.AUTO_DIFF, exit_unconverged=False, detach_unconverged=True, backprop=True, slew_rate_penalty=0.001, )(x_init, QuadCost(Q, p), dx)

Thanks

Hi, I have met the same problem, have you solved it?