Preprint
Aug 2026
PANDA: A Matrix-Free Differentiable NMPC Solver via Proximal Averaged Quasi-Newton with Adaptive Linesearch Algorithm
PANDA is proposed, a matrix-free solver for differentiable NMPC that achieves much faster forward and backward computation and lower memory overhead than representative differentiable optimization solvers, while maintaining effective imitation learning performance.
Yuan-Kun Chen, Zi-Fei Nie, Xun Gong et al.
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