Ybar recalculation

[Tadinu]

Hi, truly amazing work!

May you help confirm about this part about Ybar, which seems to have been already calculated by update_fn
https://github.com/LeCAR-Lab/dial-mpc/blob/main/dial_mpc/core/dial_core.py#L132
Also, is that both Y0s and sigma are not updated during softmax_update, so it's a bit unclear about the purpose of line 129?
Thank you!

[HussainAther]

Great observation.... I had the same question when reviewing that section. From what I can tell, Ybar is indeed already calculated in update_fn, so the redundancy on line 129 might be worth clarifying or commenting on. Also agree it’s a bit unclear how Y0s and sigma relate to that step if they're not updated. Would love to hear from the maintainers ... happy to help trace the flow further if needed!