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                                            josef-w

`ValueError: can't optimize a non-leaf Tensor` on sysid for the pendulum experiments

I did the changes you mentioned, then it returned: TypeError: 'QuadCost' object is not callable > c:\project\ilqr\mpc.pytorch\mpc\util.py(149)get_cost() 147 obj = 0.5*bquad(xut, C[t]) + bdot(xut, c[t]) 148 else: --> 149 obj...