Symmetric StairSymmetric StairPreconditioner Uncoveredoptimization with a new preconditioner.Boosting convergence in trajectoryOptimization and ControlIntroducing the Symmetric Stair Preconditioner for Trajectory OptimizationA new preconditioner improves iterative methods in trajectory optimization tasks.2025-09-12T22:18:48+00:00 ― 5 min read