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

Usage

You can run the examples using the following commands:

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

1.vanilla DDP example

2.AL-DDP example