cost too much time

[dujinyu]

hello!
I met some problems when i ran your code.

first problem:
too much time is needed, the code did not converge after running half an hour.

second problem:
you said that you use ilqr, but i still find the Second derivative of dynamics. In ilqr_gym.py, self._f_xx, self._f_uu, self._f_ux exist. This is inconsistent with the ilqr method omitting the second derivative of dynamics.

third problem:
it seems that the animation of gym does not work. the pole does not move continuously.

[neka-nat]

Hi @dujinyu ,

Thank you for your feedback.
The slow computation and drawing discontinuity is due to the computational load of autograd.
As for the algorithm, it will be renamed to DDP instead of iLQR.