LearningToOptimize · andrewrosemberg · Aug 14, 2025 · Aug 11, 2025 · Aug 11, 2025 · Aug 11, 2025
diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,2 @@
 Admin.pptx
-*.DS_Store
+*.DS_Store
diff --git a/class01/Manifest.toml b/class01/Manifest.toml
@@ -5,9 +5,9 @@ manifest_format = "2.0"
 project_hash = "33fab7715768642c9fee44610a16a04e852547fe"
 
 [[deps.ADTypes]]
-git-tree-sha1 = "7927b9af540ee964cc5d1b73293f1eb0b761a3a1"
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 uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
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     [deps.ADTypes.extensions]
     ADTypesChainRulesCoreExt = "ChainRulesCore"
@@ -216,10 +216,10 @@ uuid = "fa961155-64e5-5f13-b03f-caf6b980ea82"
 version = "0.5.0"
 
 [[deps.CPUSummary]]
-deps = ["CpuId", "IfElse", "PrecompileTools", "Static"]
-git-tree-sha1 = "5a97e67919535d6841172016c9530fd69494e5ec"
+deps = ["CpuId", "IfElse", "PrecompileTools", "Preferences", "Static"]
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 [[deps.CRC32c]]
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@@ -268,9 +268,9 @@ version = "1.72.5"
 
 [[deps.ChainRulesCore]]
 deps = ["Compat", "LinearAlgebra"]
-git-tree-sha1 = "06ee8d1aa558d2833aa799f6f0b31b30cada405f"
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     [deps.ChainRulesCore.extensions]
@@ -431,11 +431,6 @@ git-tree-sha1 = "fcbb72b032692610bfbdb15018ac16a36cf2e406"
 uuid = "adafc99b-e345-5852-983c-f28acb93d879"
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 [[deps.CustomUnitRanges]]
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@@ -1294,9 +1289,9 @@ version = "1.4.0"
 
 [[deps.Latexify]]
 deps = ["Format", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Requires"]
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     [deps.Latexify.extensions]
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@@ -1525,9 +1520,9 @@ version = "1.42.1"
 
 [[deps.MathTeXEngine]]
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 [[deps.MbedTLS]]
 deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"]
@@ -1708,9 +1703,9 @@ version = "1.5.0"
 
 [[deps.OpenSSL_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
-git-tree-sha1 = "87510f7292a2b21aeff97912b0898f9553cc5c2c"
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 [[deps.OpenSpecFun_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"]
@@ -1855,9 +1850,9 @@ version = "2.3.0"
 
 [[deps.Plots]]
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     [deps.Plots.extensions]
     FileIOExt = "FileIO"
@@ -1875,21 +1870,21 @@ version = "1.40.17"
 
 [[deps.Pluto]]
 deps = ["Base64", "Configurations", "Dates", "Downloads", "ExpressionExplorer", "FileWatching", "GracefulPkg", "HTTP", "HypertextLiteral", "InteractiveUtils", "LRUCache", "Logging", "LoggingExtras", "MIMEs", "Malt", "Markdown", "MsgPack", "Pkg", "PlutoDependencyExplorer", "PrecompileSignatures", "PrecompileTools", "REPL", "RegistryInstances", "RelocatableFolders", "Scratch", "Sockets", "TOML", "Tables", "URIs", "UUIDs"]
-git-tree-sha1 = "bafdc7b4c064d9a473b08e70085273061251b8dd"
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 uuid = "c3e4b0f8-55cb-11ea-2926-15256bba5781"
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 deps = ["ExpressionExplorer", "InteractiveUtils", "Markdown"]
-git-tree-sha1 = "9071bfe6d1c3c51f62918513e8dfa0705fbdef7e"
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 uuid = "72656b73-756c-7461-726b-72656b6b696b"
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 deps = ["Downloads", "HypertextLiteral", "Latexify", "Markdown", "PlutoUI"]
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+git-tree-sha1 = "85778cdf2bed372008e6646c64340460764a5b85"
 uuid = "661c6b06-c737-4d37-b85c-46df65de6f69"
-version = "0.4.4"
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 [[deps.PlutoUI]]
 deps = ["AbstractPlutoDingetjes", "Base64", "ColorTypes", "Dates", "Downloads", "FixedPointNumbers", "Hyperscript", "HypertextLiteral", "IOCapture", "InteractiveUtils", "JSON", "Logging", "MIMEs", "Markdown", "Random", "Reexport", "URIs", "UUIDs"]
@@ -1934,15 +1929,9 @@ version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
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 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.3"
-
-[[deps.PrettyTables]]
-deps = ["Crayons", "LaTeXStrings", "Markdown", "PrecompileTools", "Printf", "Reexport", "StringManipulation", "Tables"]
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-uuid = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
-version = "2.4.0"
+version = "1.5.0"
 
 [[deps.Primes]]
 deps = ["IntegerMathUtils"]
@@ -2179,9 +2168,9 @@ version = "2025.5.20+0"
 
 [[deps.SciMLBase]]
 deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "Moshi", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"]
-git-tree-sha1 = "c056c723b68700fec386dfde8c577089df720c8e"
+git-tree-sha1 = "1a1b2ed5178814d32374d98f808163c24d47f1d8"
 uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
-version = "2.108.0"
+version = "2.110.0"
 
     [deps.SciMLBase.extensions]
     SciMLBaseChainRulesCoreExt = "ChainRulesCore"
@@ -2206,15 +2195,20 @@ version = "2.108.0"
 
 [[deps.SciMLOperators]]
 deps = ["Accessors", "ArrayInterface", "DocStringExtensions", "LinearAlgebra", "MacroTools"]
-git-tree-sha1 = "7d3a1519dc4d433a6b20035eaff20bde8be77c66"
+git-tree-sha1 = "aea915a39b547c48a18ee041120db1ae8df5a691"
 uuid = "c0aeaf25-5076-4817-a8d5-81caf7dfa961"
-version = "1.4.0"
+version = "1.5.0"
 weakdeps = ["SparseArrays", "StaticArraysCore"]
 
     [deps.SciMLOperators.extensions]
     SciMLOperatorsSparseArraysExt = "SparseArrays"
     SciMLOperatorsStaticArraysCoreExt = "StaticArraysCore"
 
+[[deps.SciMLPublic]]
+git-tree-sha1 = "ed647f161e8b3f2973f24979ec074e8d084f1bee"
+uuid = "431bcebd-1456-4ced-9d72-93c2757fff0b"
+version = "1.0.0"
+
 [[deps.SciMLStructures]]
 deps = ["ArrayInterface"]
 git-tree-sha1 = "566c4ed301ccb2a44cbd5a27da5f885e0ed1d5df"
@@ -2390,12 +2384,6 @@ weakdeps = ["ChainRulesCore", "InverseFunctions"]
     StatsFunsChainRulesCoreExt = "ChainRulesCore"
     StatsFunsInverseFunctionsExt = "InverseFunctions"
 
-[[deps.StringManipulation]]
-deps = ["PrecompileTools"]
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-
 [[deps.StructArrays]]
 deps = ["ConstructionBase", "DataAPI", "Tables"]
 git-tree-sha1 = "9537ef82c42cdd8c5d443cbc359110cbb36bae10"
@@ -2433,10 +2421,16 @@ uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c"
 version = "7.2.1+1"
 
 [[deps.SymbolicIndexingInterface]]
-deps = ["Accessors", "ArrayInterface", "PrettyTables", "RuntimeGeneratedFunctions", "StaticArraysCore"]
-git-tree-sha1 = "59ca6eddaaa9849e7de9fd1153b6faf0b1db7b80"
+deps = ["Accessors", "ArrayInterface", "RuntimeGeneratedFunctions", "StaticArraysCore"]
+git-tree-sha1 = "93104ca226670c0cb92ba8bc6998852ad55a2d4c"
 uuid = "2efcf032-c050-4f8e-a9bb-153293bab1f5"
-version = "0.3.42"
+version = "0.3.43"
+
+    [deps.SymbolicIndexingInterface.extensions]
+    SymbolicIndexingInterfacePrettyTablesExt = "PrettyTables"
+
+    [deps.SymbolicIndexingInterface.weakdeps]
+    PrettyTables = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
 
 [[deps.SymbolicLimits]]
 deps = ["SymbolicUtils"]
@@ -2446,9 +2440,9 @@ version = "0.2.2"
 
 [[deps.SymbolicUtils]]
 deps = ["AbstractTrees", "ArrayInterface", "Bijections", "ChainRulesCore", "Combinatorics", "ConstructionBase", "DataStructures", "DocStringExtensions", "DynamicPolynomials", "ExproniconLite", "LinearAlgebra", "MultivariatePolynomials", "NaNMath", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "TaskLocalValues", "TermInterface", "TimerOutputs", "Unityper"]
-git-tree-sha1 = "cb2beb85947c0a894efa345c436edad20ecec977"
+git-tree-sha1 = "8c103c491ccf3e2b4284635c24b5de768adc6be8"
 uuid = "d1185830-fcd6-423d-90d6-eec64667417b"
-version = "3.30.0"
+version = "3.31.0"
 
     [deps.SymbolicUtils.extensions]
     SymbolicUtilsLabelledArraysExt = "LabelledArrays"
@@ -2459,10 +2453,10 @@ version = "3.30.0"
     ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267"
 
 [[deps.Symbolics]]
-deps = ["ADTypes", "ArrayInterface", "Bijections", "CommonWorldInvalidations", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "LaTeXStrings", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "OffsetArrays", "PrecompileTools", "Primes", "RecipesBase", "Reexport", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils", "TermInterface"]
-git-tree-sha1 = "6feaa0f2eb9728a6089ad81e31bf7539d41c8a30"
+deps = ["ADTypes", "ArrayInterface", "Bijections", "CommonWorldInvalidations", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "LaTeXStrings", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "OffsetArrays", "PrecompileTools", "Primes", "RecipesBase", "Reexport", "RuntimeGeneratedFunctions", "SciMLBase", "SciMLPublic", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils", "TermInterface"]
+git-tree-sha1 = "83d9eaffba90db9f0127ef4ae8ffa124e93b34f2"
 uuid = "0c5d862f-8b57-4792-8d23-62f2024744c7"
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+version = "6.51.0"
 
     [deps.Symbolics.extensions]
     SymbolicsD3TreesExt = "D3Trees"
@@ -2562,9 +2556,9 @@ uuid = "3bb67fe8-82b1-5028-8e26-92a6c54297fa"
 version = "0.11.3"
 
 [[deps.Tricks]]
-git-tree-sha1 = "0fc001395447da85495b7fef1dfae9789fdd6e31"
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 uuid = "410a4b4d-49e4-4fbc-ab6d-cb71b17b3775"
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+version = "0.1.12"
 
 [[deps.TriplotBase]]
 git-tree-sha1 = "4d4ed7f294cda19382ff7de4c137d24d16adc89b"

diff --git a/class01/background_materials/math_basics.html b/class01/background_materials/math_basics.html
diff --git a/class01/background_materials/math_basics.jl b/class01/background_materials/math_basics.jl
@@ -1,5 +1,5 @@
 ### A Pluto.jl notebook ###
-# v0.20.13
+# v0.20.15
 
 using Markdown
 using InteractiveUtils

diff --git a/class01/background_materials/optimization_basics.html b/class01/background_materials/optimization_basics.html
diff --git a/class01/background_materials/optimization_basics.jl b/class01/background_materials/optimization_basics.jl
@@ -1,5 +1,5 @@
 ### A Pluto.jl notebook ###
-# v0.20.13
+# v0.20.15
 
 using Markdown
 using InteractiveUtils

diff --git a/class01/background_materials/optimization_motivation.html b/class01/background_materials/optimization_motivation.html
diff --git a/class01/background_materials/optimization_motivation.jl b/class01/background_materials/optimization_motivation.jl
@@ -1,5 +1,5 @@
 ### A Pluto.jl notebook ###
-# v0.20.13
+# v0.20.15
 
 using Markdown
 using InteractiveUtils
@@ -9,7 +9,6 @@ begin
 	class_dir = dirname(@__DIR__)
 	import Pkg
 	Pkg.activate("..")
-	Pkg.status()
 end
 
 # ╔═╡ 054eb7cf-cb60-41a0-9a87-215e36dcf53d

diff --git a/class01/class01_intro.html b/class01/class01_intro.html
diff --git a/class01/class01_intro.jl b/class01/class01_intro.jl
@@ -1,5 +1,5 @@
 ### A Pluto.jl notebook ###
-# v0.20.13
+# v0.20.15
 
 using Markdown
 using InteractiveUtils
@@ -57,13 +57,13 @@ begin
 	MarkdownLiteral.@markdown(
 """
 
-[^cmu]: Zachary Manchester et al. Optimal Control and Reinforcement Learning at Carnegie Mellon University - [CMU 16-745]("https://optimalcontrol.ri.cmu.edu/")
+[^cmu]: Zachary Manchester et al. [Optimal Control and Reinforcement Learning at Carnegie Mellon University - CMU 16-745](https://optimalcontrol.ri.cmu.edu/)
 
-[^OptProx]: Van Hentenryck, P., 2024. Fusing Artificial Intelligence and Optimization with Trustworthy Optimization Proxies. Collections, 57(02).
+[^OptProx]: Van Hentenryck, P., 2024. [Fusing Artificial Intelligence and Optimization with Trustworthy Optimization Proxies](https://www.siam.org/publications/siam-news/articles/fusing-artificial-intelligence-and-optimization-with-trustworthy-optimization-proxies/). Collections, 57(02).
 
-[^ArmManip]: Guechi, E.H., Bouzoualegh, S., Zennir, Y. and Blažič, S., 2018. MPC control and LQ optimal control of a two-link robot arm: A comparative study. Machines, 6(3), p.37.
+[^ArmManip]: Guechi, E.H., Bouzoualegh, S., Zennir, Y. and Blažič, S., 2018. [MPC control and LQ optimal control of a two-link robot arm: A comparative study](https://www.mdpi.com/2075-1702/6/3/37). Machines, 6(3), p.37.
 
-[^ZachMIT]: Zachary Manchester talk at MIT - [MIT Robotics - Zac Manchester - Composable Optimization for Robotic Motion Planning and Control]("https://www.youtube.com/watch?v=eSleutHuc0w&ab_channel=MITRobotics").
+[^ZachMIT]: Zachary Manchester talk at MIT - [MIT Robotics - Zac Manchester - Composable Optimization for Robotic Motion Planning and Control](https://www.youtube.com/watch?v=eSleutHuc0w&ab_channel=MITRobotics).
 
 """
 )
@@ -211,7 +211,9 @@ md"[^OptProx]"
 """
 
 # ╔═╡ 45275d44-e268-43cb-8156-feecd916a6da
-@htl """
+# ╠═╡ skip_as_script = true
+#=╠═╡
+Foldable(md"#### LearningToOptimize Project", @htl """
 <div style="
   border:1px solid #ccc;
   border-radius:6px;
@@ -346,7 +348,8 @@ md"[^OptProx]"
   </p>
 
 </div>
-"""
+""")
+  ╠═╡ =#
 
 # ╔═╡ c08f511e-b91d-4d17-a286-96469c31568a
 md"## Example: Robotic Arm Manipulation"
@@ -481,7 +484,7 @@ md"State $x$ is everything you need to define to determine the how your system w
 md"### Example: Pendulum"
 
 # ╔═╡ baa3993c-96b0-474e-b5b4-f9eaea642a49
-function pendulum(θ_deg = 60; L = 4, fsize = (520, 450), _xlims=nothing)
+function pendulum(θ_deg = 60; L = 4, fsize = (520, 450), _xlims=nothing, _ylims=(-5, 5))
     θ       = deg2rad(θ_deg)
     pivot   = Point2f(0, 0)
     mass    = Point2f(-L*sin(θ), -L*cos(θ))        # rod tip
@@ -495,11 +498,9 @@ function pendulum(θ_deg = 60; L = 4, fsize = (520, 450), _xlims=nothing)
                xgridvisible   = false,
                ygridvisible   = false)
     hidespines!(ax)
-
-	_y = -L*cos(θ)
-	if _y > 0 
-		ylims!(ax, (-1, _y + 1))
-	end
+    if !isnothing(_ylims)
+	    ylims!(ax, _ylims)
+    end
 
 	if !isnothing(_xlims)
 		xlims!(ax, _xlims)
@@ -585,7 +586,7 @@ x \in S^{1} \times \mathbb{R} & \text{Cylinder}
 """)
 
 # ╔═╡ 4d598933-05a9-44fa-b5a7-f7e1c7afb094
-md"## Control--Afine Systems
+md"## Control--Affine Systems
 
 Non--linear Systems of the form:
 ```math
@@ -594,7 +595,7 @@ Non--linear Systems of the form:
 
  $\implies$ Non--linear in the state but affine in the input/control.
 
-Control--Afine Systems are common in many mechanical systems.
+Control--Affine Systems are common in many mechanical systems.
 
 "