lagrangian-duality

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What duality argument does the Argmin "Mates of Costate" post make connecting adjoint variables/co-state equations to Bryson (1961) and Kalman (1960), and does it support a backprop lineage through optimal control?

capture promoted 2026-07-07 · backpropagation, optimal-control, history-of-AI, Kelley-Bryson, Kalman-filter
Recht's "Mates of Costate" argues mathematical equivalence (Lagrangian duality), not historical transmission — and never mentions Kelley

claim budding Tier 1 2026-07-07 · recht, optimal-control, lagrangian-duality, adjoint-method, backpropagation