Add chapter_deza.jl file to class02 #57

ArnaudDeza · 2025-09-26T20:44:56Z

Preliminary draft of my chapter in Pluto. Arnaud will have to update the julia file for Monday Sept 29 (birthday!) with a more complete version of the chapter

ArnaudDeza · 2025-09-29T18:49:32Z

Hi, this is the current draft of the preliminary chapter. Some things I am struggling with and would love some help/comments about:

How long should the chapter be? I.e how long should it take someone to read and play with the code?
Is this the correct structure for the chapter: have one main overview file that basically links to the smaller subsections that the read goes over sequentially?

andrewrosemberg · 2025-09-29T19:55:08Z

Grade commit f552acd.

@klamike please review and:

Send us the grade relative to the grade commit.
Request changes in order for this to be a fully readable and good chapter.

The grade should be evaluated using the following metric (that sums up to 100 max):

(33) Is this fully readable (complete sentences, coherent text, ...)? 30 means that it reads like a book chapter, and there is no room for ambiguity.
(34) Is the content correct? 30 Means there are no mistakes.
(33) Does this bridge the student from the previous class to the next? 30 means that a student who doesn't work on optimization has all the optimization background they will need to follow the next lectures.

andrewrosemberg · 2025-09-29T19:56:55Z

Hi, this is the current draft of the preliminary chapter. Some things I am struggling with and would love some help/comments about:

How long should the chapter be? I.e how long should it take someone to read and play with the code?

Is this the correct structure for the chapter: have one main overview file that basically links to the smaller subsections that the read goes over sequentially?

Unfortunately, these questions were due prior to the deadline, but @klamike review should help you from now on to get it to the standards we want for the book.

andrewrosemberg · 2025-09-29T20:01:30Z

From what I see, we are missing edits to the chapter main page that would read like a chapter intro to guide the reader. The current version is not up to standards. We don't want lists: https://github.com/LearningToOptimize/LearningToControlClass/blob/main/class02/overview.md.

Previous documents have not been removed. Please clean up the folder and files pinged to the documentation.

andrewrosemberg · 2025-09-29T20:03:31Z

class02/class02_overview.jl

+
+# ╔═╡ a89a5e16-9c64-11f0-3c6f-772fd0a68437
+md"""
+## Sections


ChatGPT loves lists. We want paragraphs that guide the reader through the content.

andrewrosemberg · 2025-10-02T13:11:31Z

class02/class02_overview.jl

+"""
+
+# ╔═╡ 00000000-0000-0000-0000-000000000002
+PLUTO_MANIFEST_TOML_CONTENTS = """


we should use a lecture central project.toml if possible

LearningToControlClass/class05/class05.jl

Lines 8 to 16 in 81b2067

begin

class_dir = @__DIR__

import Pkg

Pkg.activate(".")

Pkg.instantiate()

using PlutoUI

using PlutoTeachingTools

using MarkdownLiteral

end

klamike

Overall great start, but still some work to be done before it reaches what I imagine a 100% would look like. Adding the code you showed us in class will go a long way, as well as adjusting wordings to be paragraphs instead of bullet points as Andrew suggested. For more detailed feedbacks, see the comments.

Grade:

(25/33) Readability   (use paragraphs, fix math format)
(33/34) Correctness   (see comment on Gauss-Newton)
(22/33) Completeness  (see comments throughout)

Total: 80/100

Note that I did not review the correctness of all of the math equations in detail due to the formatting issue making it difficult to do so.

Though it should be obvious since I am myself a student, I want to make it clear that this grade is by no means final. Indeed, it is a function of not only the quality of your chapter draft but also my ability to review it. Furthermore, it is my understanding that you have the option of improving the chapter until the end of the semester (which I am happy to help with, too). Thanks again for volunteering for an early class, and for delivering a great, engaging lecture.

klamike · 2025-10-02T15:21:43Z

class02/class02_overview.jl

+* **Learning-based control** wraps optimizers inside training loops (differentiable programming), so smoothness and convergence matter.
+
+**Mental model (any time step (k))**
+State (x_k) → **optimizer** solves a small problem → control (u_k) → plant evolves (x_{k+1}=f(x_k,u_k)).


Suggested change

State (x_k) → **optimizer** solves a small problem → control (u_k) → plant evolves (x_{k+1}=f(x_k,u_k)).

State $x_k$ → **optimizer** solves a small problem → control $u_k$ → plant evolves $x_{k+1}=f(x_k,u_k)$.

I won't leave comments on all of them but please correct the math syntax throughout all the sections/notebooks. See https://plutojl.org/en/docs/latex/

Also maybe a more generic term than "plant" here?

klamike · 2025-10-02T15:26:23Z

class02/class02_overview.jl

+"""
+
+
+# ╔═╡ 46558377-74bc-4453-b2c2-273ccaf3d2d7


Please hide the source for all the markdown cells, and any other cells where the source code is not important. You can do this in the UI by clicking the 👁️ icon on the left of the cell.

You can also do this in the source by looking at the very bottom of the file:

# ╠═46558377-74bc-4453-b2c2-273ccaf3d2d7 # ╟─61fc1519-10c9-4b57-ac8f-4b660c08b39d

The ═ means source is shown, the ─ means it is hidden.

klamike · 2025-10-02T15:36:06Z

class02/class02_overview.jl

+
+* **Vector-valued** (g:\mathbb{R}^m\to\mathbb{R}^n)
+
+  * **Jacobian:** (\dfrac{\partial g}{\partial y}\in\mathbb{R}^{n\times m})


Consider writing out the matrix, so the entries are dg_i/dy_j

klamike · 2025-10-02T15:40:06Z

class02/class02_overview.jl

+# ╔═╡ a65e8de6-8f17-4adb-8359-cbe8a349eff8
+md"""
+
+"""
+
+# ╔═╡ 12cbe2ab-9a12-4db6-a044-de0578bb49f3
+
+


Remove these empty cells at the end

klamike · 2025-10-02T15:41:48Z

class02/class02_overview.jl

+# ╔═╡ a89a5e16-9c64-11f0-3c6f-772fd0a68437
+md"""
+## Sections
+- [Root finding](class02_root_finding.jl)


Seems these links don't work when using Pluto locally. But we can keep this for now and Andrew/I will fix it for the final book. Have you gotten links between Pluto notebooks working @andrewrosemberg ?

klamike · 2025-10-02T16:55:31Z

class02/class02_methods_barrier.jl

+
+[⬅ Back to overview](class02_overview.jl)
+
+[➡ Constrained minimization & KKT (next)](class02_constrained_min.jl) 


shouldn't this point to sqp?

klamike · 2025-10-02T16:58:54Z

class02/class02_sqp.jl

+
+**Idea.** Solve a nonlinear constrained problem by repeatedly solving a **quadratic program (QP)** built from local models.
+
+* Linearize constraints; build a quadratic model of the **Lagrangian/objective**.


This is better understood through the lens of linearizing the KKT system like we discussed in class. This makes it much easier to understand why we have a quadratic objective but linear constraints. Currently it makes it seem like a design choice when in fact it follows from the KKT linearization.

klamike · 2025-10-02T16:59:42Z

class02/class02_sqp.jl

+
+# ╔═╡ 1adff7b2-d86b-4311-9626-22d52057f551
+md"""
+## Cell 2 — What is SQP?


remove the cell numbers

klamike · 2025-10-02T17:01:05Z

class02/class02_methods_barrier.jl

@@ -0,0 +1,308 @@
+### A Pluto.jl notebook ###


Overall: add the code from class and add more detail to the text descriptions. I did not review the math in detail due to format issue.

klamike · 2025-10-02T17:04:00Z

class02/class02_sqp.jl

+]
+Solve the QP for (d_k), then set (x_{k+1}=x_k+\alpha_k d_k) using a merit/filter/trust-region globalization.
+
+*(When you add code: plot feasibility (|g|), violation (|h^-|), and objective vs. iteration.)*


add the code

ArnaudDeza added 3 commits September 26, 2025 16:43

Add chapter_deza.jl file to class02

91981e9

Add Pluto notebooks for class02 chapter

3eea924

Remove chapter_deza notebook

f552acd

andrewrosemberg reviewed Sep 29, 2025

View reviewed changes

andrewrosemberg reviewed Oct 2, 2025

View reviewed changes

klamike requested changes Oct 2, 2025

View reviewed changes

	begin
	class_dir = @__DIR__
	import Pkg
	Pkg.activate(".")
	Pkg.instantiate()
	using PlutoUI
	using PlutoTeachingTools
	using MarkdownLiteral
	end

	State (x_k) → optimizer solves a small problem → control (u_k) → plant evolves (x_{k+1}=f(x_k,u_k)).
	State $x_k$ → optimizer solves a small problem → control $u_k$ → plant evolves $x_{k+1}=f(x_k,u_k)$.


		* Vector-valued (g:\mathbb{R}^m\to\mathbb{R}^n)

		* Jacobian: (\dfrac{\partial g}{\partial y}\in\mathbb{R}^{n\times m})


		[⬅ Back to overview](class02_overview.jl)

		[➡ Constrained minimization & KKT (next)](class02_constrained_min.jl)


		Idea. Solve a nonlinear constrained problem by repeatedly solving a quadratic program (QP) built from local models.

		* Linearize constraints; build a quadratic model of the Lagrangian/objective.

Add chapter_deza.jl file to class02 #57

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ArnaudDeza commented Sep 26, 2025

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ArnaudDeza commented Sep 29, 2025

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andrewrosemberg commented Sep 29, 2025

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andrewrosemberg commented Sep 29, 2025

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andrewrosemberg commented Sep 29, 2025 •

edited

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