SymStair

Numerical experiments for the paper: "Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization"

This package contains submodules make sure to run git submodule update --init --recursive after cloning!

Usage and Hyperparameters:

To modify the experiments please see the file runTests.py which specifies cost functions and trajectory lengths. That file can be run to output results with python3 runTests.py.

Instalation Instructions

In order to support the experiments and submodules there are 4 required external packages beautifulsoup4, lxml, numpy, sympy which can be automatically installed by running:

pip3 install -r requirements.txt

Citing

To cite this work in your research, please use the following bibtex:

@inproceedings{bu2024symmetric,
  title={Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization}, 
  author={Xueyi Bu and Brian Plancher},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  address = {Yokohama, Japan},
  month={May.},
  year = {2024}
}