Square Root Gauss-Newton iLQR

arXiv:2609.21053 · math.OC, cs.RO · Submitted 2026-09-17 · Read on arXiv

math.OC, cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Regularization — 4× in this paper · explained in 3 episodes
• Linear Quadratic Regulator — 3× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Alternation — 1× in this paper · explained in 1 episode
• Robustness — 1× in this paper · explained in 5 episodes
• Steering — 1× in this paper · explained in 2 episodes

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