# LECO: Learning Direct Control from Optimization for Dynamic Target Tracking

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/y1m1rv0q6w8m7xrjzxemy4rzi
- Original: https://arxiv.org/abs/2610.34929

## Summary

LECO converts online trajectory optimization for dynamic target tracking into offline learning of a direct-control policy, using a differentiable kinematic model to let trajectory-level objectives directly guide control learning. Across three simulated obstacle densities, its root-mean-square linear jerk is 14.1%–31.2% lower than the best comparison method on this metric, it achieves the highest tracking success rate, and its per-cycle computation time is 4.25–5.63 ms.