Fix min-snap QP solver robustness for ill-conditioned trajectories#2
Open
Purushotham-Mani wants to merge 1 commit intoStanfordMSL:mainfrom
Open
Fix min-snap QP solver robustness for ill-conditioned trajectories#2Purushotham-Mani wants to merge 1 commit intoStanfordMSL:mainfrom
Purushotham-Mani wants to merge 1 commit intoStanfordMSL:mainfrom
Conversation
Collaborator
Purushotham-Mani
commented
Mar 16, 2026
Purushotham-Mani
commented
- Fix None vs False check in vehicle_rate_mpc.py for solve() return value
- Add P matrix regularization (1e-8 * I) for strict positive-definiteness
- Add solver fallback chain (clarabel > proxqp > osqp > scs) with per-solver kwargs
- Print actual exceptions instead of bare except swallowing errors
- Fixes extended_traj_track and other numerically challenging courses
- Fix None vs False check in vehicle_rate_mpc.py for solve() return value - Add P matrix regularization (1e-8 * I) for strict positive-definiteness - Add solver fallback chain (clarabel > proxqp > osqp > scs) with per-solver kwargs - Print actual exceptions instead of bare except swallowing errors - Fixes extended_traj_track and other numerically challenging courses Made-with: Cursor
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.