A couple months ago I wrote an iLQR solver in JAX and today I decided to open-source it. I used Claude Code for the first time and I’ve never moved so fast in my life. I went from a script with one example to a package with a bunch of examples in <1 hr. Highly recommend it!
I also wrote a derivation for LQR and iLQR which I liked more than the stuff I found online because I don’t assume any form for the value function. Instead, I show how the quadratic form arises naturally from the problem formulation.
Find the repo and pdf here.
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