Control v2 - #291

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MatthieuDarcy wants to merge 35 commits into

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Commits on Jul 30, 2026

Add online control loop support via DiscreteControlLoopSimulator

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c793375
Add continuous-time SDE demo and fix EKF bootstrap NaN for dt-scaled transitions

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c3d3d9e
Add nonlinear 2D SDE example and note on Euler-Maruyama integration accuracy

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2c297cd
Add test coverage for DiscreteControlLoopSimulator and compute_cuthbert_filter_update

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3cdac2b
Add MPPI controller in dynestyx/control/, move DiscreteControlLoopSimulator there

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824e1fd
Merge branch 'control' into control_v2
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eb93bf4
Port control-loop work onto post-refactor architecture (dynestyx.simulation)

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23d1746
Add MPPI section to the control-loop tutorial notebook

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15a19b2
Fix ty type-check error in test_discrete_control.py

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6bf70d8
Merge branch 'main' into control_v2
MatthieuDarcy
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d9dd394
Merge branch 'control_v2' of https://github.com/BasisResearch/dynestyx into control_v2
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84b3e0a
Add gradient-through-the-rollout section to the control tutorial notebook

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68e705a
added notebook on optimizing the policy using gradients
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994f9e2

Commits on Jul 31, 2026

Merge branch 'main' into control_v2
MatthieuDarcy
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b8c39ea
Add finite-difference gradient check to control_optimization.ipynb

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c97c722
Switch control_optimization.ipynb to explicit rng_key control

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7195b66
Update final comparison plot to match run()'s new sim.simulate() syntax

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425ed17
Switch controller_demo.ipynb to direct sim.simulate() syntax throughout

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4801cf9
Improved the control_optimization tutorial
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c09cc0b
Improved controller demo
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28734a0

Commits on Aug 3, 2026

Enabled controllersimulator so use dsx.simulate and inproved tutorial
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e5d47d7
Rework MPPI and notebook
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04a51e3
Updated policy: time and stochasticity
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476e4a8
Typos fixed
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c185b84
Update controller_demo.ipynb
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799dd71
Update controller_demo.ipynb
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4196aed

Commits on Aug 4, 2026

Commits on Aug 5, 2026