diff --git a/doc/changelog.rst b/doc/changelog.rst index bb2fbb0b..65cafedf 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -34,7 +34,7 @@ General However, the default policy will change to "merge" in a future release. - Improved primal solver convergence under float32. Improvements initially proposed by :github:user:`n3b` in - :issue:`2313` and :github:user:`denzeler-nvidia` in :doc:`MJWarp ` pull request + :issue:`2313` and :github:user:`adenzler-nvidia` in :doc:`MJWarp ` pull request `1374 `__. - The :ref:`CG solver` now uses the Hager-Zhang conjugate direction update instead of the Polak-Ribiere-Plus formula. This improves convergence and leads to a significant speedup under float32.