ddp_jax

Differential Dynamic Programming (DDP) implementations in jax

Contents:

Vanilla DDP
Augmented Lagrangian DDP (ALDDP)
- original paper: Constrained Differential Dynamic Programming Revisited
(on going) Maximum Entropy DDP (ME-DDP)

Installation

check the pyproject.toml file for the required packages. You can install them using the following command:

poetry install

You can run the examples using the following commands:

  poetry run python ./examples/example_ddp.py
  poetry run python ./examples/example_alddp.py