google-deepmind / google-deepmind/mujoco_mpc
Subspace Planning
Open
- Dominant language
- C++
- Stars
- 1.7k
- Forks
- 282
- PR merge metrics
- No merged PRs in 30d
Description
Hi @thowell,
I wanted to ask about a feature addition to the planners, which is to plan within a subspace of the robot's control space. The subspace would be defined by a basis V, with the orthogonal projection matrix VV^{T}. I would be mainly interested in the derivative-based approaches for this purpose.
Thanks!
Contributor guide
Assessment
This issue has not been assessed yet.