nonlinear controllers (SMC, MPPI), batched dynamics and operations - #22

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adilfaisal01 merged 21 commits into

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feat/nonlinear-zig-lowering

Sep 16, 2026

Commits on Sep 16, 2026

feat: add abs, sign, pow, lt ops and config validation for SMC controller
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a6400e9
feat: add SMC controller support and new ops (abs, sign, pow, lt, ne, stack, solve_qp) with Zig lowering updates and documentation enhancements
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ce09df6
style: reformat graph_data enums and array literals, tighten spacing
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2289e93
feat: implement min-norm multi-input control in SlidingModeController and update documentation
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2aae56b
feat: add multi-input SMC support with closed-form vector control and comprehensive tests
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589819a
docs: defer multi-surface SMC decision and clarify single-surface scope in documentation
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b7bdb94
style: trim extra blank lines in daily note markdown file
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bf792d1
docs: add auto-generated API reference site
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d012e7a
feat: add min reduction op with Zig lowering
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3f34196
chore: added pi specific settings
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24a007a
refactor: make the batched quadratic cost traceable
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3083225
feat: make MPPI's compute trace-safe for lowering
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e53729f
docs: add an MPPI demo for model wiring and lowering
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ed5c40a
feat: lower MPPI to Zig end-to-end, and record kernel sizes as a metric
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89ccbd7
feat: compile MPPI scenarios end to end (host-supplied epsilon)
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c834aad
fix(compose): forward subgraph diagnostics so composed kernels stay observable
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8fc9f6c
chore: added smc demo
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4e29495
feat: make plant dynamics batch-capable for lowered nonlinear MPPI rollouts
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4a14d5f
feat: verify nonlinear MPPI end to end (interpreter oracle, .so, compile scenario)
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0096087
docs: document the nonlinear MPPI rollout contract
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027d224
docs(demos): add a nonlinear MPPI demo, dev through compiled kernel
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3f8dde6