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Gains optimization package?

Hi all,

I am looking for a package allowing to optimize gains for a given robot (or a simulated robot) - such as low-level PID gains. The idea is to provide init gains to the package and a cost function to optimize (typically including a component for the "tracking speed" and another one for the "stability") and then to let the package optimize by performing thousands of cycles overnight with different gains so as to converge to an optimum (using gradient descent or whatever relevant method).

Do you know about anything looking like that?

Thanks,

Antoine.