From 0183de754e7e17aabcb8338411b8f6a8526ec892 Mon Sep 17 00:00:00 2001 From: Jun Zeng Date: Mon, 7 Aug 2023 22:43:23 -0700 Subject: [PATCH] Update README.md --- README.md | 22 +++++++++++++--------- 1 file changed, 13 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index cc4cd63..b43dd0b 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,17 @@ -iterative-ilqr +iterative-ilqr-tasks ========== This repository provides a toolkit to test iterative learning controller. - -## Features +## References +``` +@inproceedings{zeng2023i2lqr, + title={i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments}, + author={Yifan Zeng and Suiyi He and Han Hoang Nguyen and Yihan Li and Zhongyu Li and Koushil Sreenath and Jun Zeng}, + booktitle={2023 62nd IEEE Conference on Decision and Control (CDC)}, + year={2023}, +} +``` ## Installation * We recommend creating a new conda environment: @@ -32,7 +39,6 @@ Please contact major contributors of this repository for additional information. ## Docs The following documentation contains documentation and common terminal commands for simulations and testing. - #### Nonlinear LMPC Run ``` @@ -66,11 +72,9 @@ This allows to test the iterative ilqr controller. The argparse arguments are li | `save-trajectory` | action | `store_true` | save simulator will store the history states and inputs if true | #### Known Issues -To change the simulation timestep, the number of prediction horizon and number of history states used for learning should be changed. - -No noise is added to the simulation during the dynamics update. The noise will result in failure when the robotics approaches the terminal point. - -Current discretization time for system dynamics update is same as the simulation timestep. A smaller this value will also result in failure. +- To change the simulation timestep, the number of prediction horizon and number of history states used for learning should be changed. +- No noise is added to the simulation during the dynamics update. The noise will result in failure when the robotics approaches the terminal point. +- Current discretization time for system dynamics update is same as the simulation timestep. A smaller this value will also result in failure.