Differentiable Controller Learning

[avik-pal]

Take examples from ``Contact-Aware Controller Design for Complementarity Systems'' \url{https://github.com/AlpAydinoglu/cdesign} and learn Neural Network Controllers for them:

• Cartpole (@yonatanwesen has an implementation for this)
• Partial State Feedback
• Acrobat with Soft Joint Limits ([WIP] Allow easy ways to model LinearComplementaritySystems #12 implements this)

[yonatanwesen]

I will also implement Partial State Feedback and test for convergence

[avik-pal]

We have the differentiable controllers merged. However, there is a concern regarding the final loss of the final model.

[yonatanwesen]

I think it can go down even further if we give it more iterations. It just takes a while