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1.5.1-pre-0d71d8cd8b.log
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Julia Version 1.5.1-pre.28
Commit 0d71d8cd8b (2020-08-14 20:35 UTC)
Platform Info:
OS: Linux (x86_64-linux-gnu)
CPU: Intel(R) Xeon(R) Silver 4114 CPU @ 2.20GHz
WORD_SIZE: 64
LIBM: libopenlibm
LLVM: libLLVM-9.0.1 (ORCJIT, skylake-avx512)
Environment:
JULIA_DEPOT_PATH = ::/usr/local/share/julia
JULIA_NUM_THREADS = 2
Resolving package versions...
Installed Requires ─────────────────────── v1.0.1
Installed LinearTimeVaryingModelsBase ──── v0.2.1
Installed DifferentialDynamicProgramming ─ v0.4.0
Installed ValueHistories ───────────────── v0.5.3
Installed OrderedCollections ───────────── v1.3.0
Installed RecipesBase ──────────────────── v1.0.2
Installed Parameters ───────────────────── v0.12.1
Installed DataStructures ───────────────── v0.17.20
Installed UnPack ───────────────────────── v1.0.2
Updating `~/.julia/environments/v1.5/Project.toml`
[9cd584b6] + DifferentialDynamicProgramming v0.4.0
Updating `~/.julia/environments/v1.5/Manifest.toml`
[864edb3b] + DataStructures v0.17.20
[9cd584b6] + DifferentialDynamicProgramming v0.4.0
[5e7a79f3] + LinearTimeVaryingModelsBase v0.2.1
[bac558e1] + OrderedCollections v1.3.0
[d96e819e] + Parameters v0.12.1
[3cdcf5f2] + RecipesBase v1.0.2
[ae029012] + Requires v1.0.1
[3a884ed6] + UnPack v1.0.2
[98cad3c8] + ValueHistories v0.5.3
[2a0f44e3] + Base64
[8ba89e20] + Distributed
[b77e0a4c] + InteractiveUtils
[8f399da3] + Libdl
[37e2e46d] + LinearAlgebra
[56ddb016] + Logging
[d6f4376e] + Markdown
[de0858da] + Printf
[9a3f8284] + Random
[ea8e919c] + SHA
[9e88b42a] + Serialization
[6462fe0b] + Sockets
[2f01184e] + SparseArrays
[10745b16] + Statistics
[8dfed614] + Test
[cf7118a7] + UUIDs
[4ec0a83e] + Unicode
Testing DifferentialDynamicProgramming
Status `/tmp/jl_DF8kJL/Project.toml`
[9cd584b6] DifferentialDynamicProgramming v0.4.0
[5e7a79f3] LinearTimeVaryingModelsBase v0.2.1
[ae029012] Requires v1.0.1
[98cad3c8] ValueHistories v0.5.3
[37e2e46d] LinearAlgebra
[de0858da] Printf
[9a3f8284] Random
[10745b16] Statistics
[8dfed614] Test
Status `/tmp/jl_DF8kJL/Manifest.toml`
[864edb3b] DataStructures v0.17.20
[9cd584b6] DifferentialDynamicProgramming v0.4.0
[5e7a79f3] LinearTimeVaryingModelsBase v0.2.1
[bac558e1] OrderedCollections v1.3.0
[d96e819e] Parameters v0.12.1
[3cdcf5f2] RecipesBase v1.0.2
[ae029012] Requires v1.0.1
[3a884ed6] UnPack v1.0.2
[98cad3c8] ValueHistories v0.5.3
[2a0f44e3] Base64
[8ba89e20] Distributed
[b77e0a4c] InteractiveUtils
[8f399da3] Libdl
[37e2e46d] LinearAlgebra
[56ddb016] Logging
[d6f4376e] Markdown
[de0858da] Printf
[9a3f8284] Random
[ea8e919c] SHA
[9e88b42a] Serialization
[6462fe0b] Sockets
[2f01184e] SparseArrays
[10745b16] Statistics
[8dfed614] Test
[cf7118a7] UUIDs
[4ec0a83e] Unicode
[ Info: Compile time is high for this package, this is expected and is not an error.
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.2614 17.2 17.2 0.0875 0.0
2 33.0812 11.6 11.6 0.0865 -0.2
3 21.522 8.29 8.29 0.111 -0.6
4 13.2271 5.01 5.01 0.163 -1.2
5 8.22188 2.52 2.52 0.223 -2.0
6 5.69836 0.697 0.697 0.274 -3.1
7 5.00175 0.029 0.029 0.0769 -4.3
8 4.97274 2.6e-05 2.6e-05 0.00255 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 4.972709
final grad: 3.691866e-06
final λ: 4.4841551e-08
time / iter: 306 ms
total time: 2.75 seconds, of which
derivs: 0.0 %
back pass: 42.0%
fwd pass: 3.2 %
other: 54.8% (graphics etc.)
=========== end iLQG ===========
18.425370 seconds (15.19 M allocations: 899.414 MiB, 4.32% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.3994 29.5 29.5 0.111 0.0
2 20.945 9.87 9.87 0.0762 -0.2
3 11.0701 3.21 3.21 0.0597 -0.6
4 7.85928 1.21 1.21 0.0641 -1.2
5 6.65013 0.51 0.51 0.116 -2.0
6 6.14033 0.189 0.189 0.136 -3.1
7 5.95108 0.0152 0.0152 0.0506 -4.3
8 5.93583 1.85e-05 1.85e-05 0.00206 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 5.935807
final grad: 3.461293e-06
final λ: 4.4841551e-08
time / iter: 128 ms
total time: 1.16 seconds, of which
derivs: 3.3 %
back pass: 89.3%
fwd pass: 3.3 %
other: 4.0 % (graphics etc.)
=========== end iLQG ===========
1.159841 seconds (799.34 k allocations: 211.943 MiB, 32.89% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 49.8271 30.5 30.5 0.122 0.0
2 19.3093 9.35 9.35 0.0771 -0.2
3 9.95462 3.54 3.54 0.0611 -0.6
4 6.41377 2.16 2.16 0.0843 -1.2
5 4.25844 1.32 1.32 0.142 -2.0
6 2.93764 0.533 0.533 0.172 -3.1
7 2.40453 0.0416 0.0416 0.0626 -4.3
8 2.36292 4.75e-05 4.75e-05 0.00235 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 2.362869
final grad: 3.770219e-06
final λ: 4.4841551e-08
time / iter: 67 ms
total time: 0.60 seconds, of which
derivs: 0.2 %
back pass: 92.6%
fwd pass: 5.8 %
other: 1.4 % (graphics etc.)
=========== end iLQG ===========
0.603277 seconds (799.34 k allocations: 211.943 MiB, 2.18% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.6304 18.8 18.8 0.0942 0.0
2 31.8694 11.1 11.1 0.0863 -0.2
3 20.759 7.41 7.41 0.0987 -0.6
4 13.3473 5.25 5.25 0.145 -1.2
5 8.10198 2.99 2.99 0.238 -2.0
6 5.11068 0.847 0.847 0.259 -3.1
7 4.26334 0.0472 0.0472 0.0854 -4.3
8 4.21613 4.59e-05 4.59e-05 0.0031 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 4.216084
final grad: 4.427889e-06
final λ: 4.4841551e-08
time / iter: 71 ms
total time: 0.64 seconds, of which
derivs: 0.2 %
back pass: 92.3%
fwd pass: 4.7 %
other: 2.8 % (graphics etc.)
=========== end iLQG ===========
0.645462 seconds (799.34 k allocations: 211.943 MiB, 1.64% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 49.4239 21.9 21.9 0.0982 0.0
2 27.5427 11.6 11.6 0.0841 -0.2
3 15.9309 5.75 5.75 0.0861 -0.6
4 10.1855 2.52 2.52 0.0935 -1.2
5 7.66267 1.42 1.42 0.179 -2.0
6 6.24676 0.409 0.409 0.235 -3.1
7 5.83751 0.0187 0.0187 0.0618 -4.3
8 5.81882 1.9e-05 1.9e-05 0.00214 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 5.818801
final grad: 3.502766e-06
final λ: 4.4841551e-08
time / iter: 68 ms
total time: 0.61 seconds, of which
derivs: 0.2 %
back pass: 92.7%
fwd pass: 5.0 %
other: 2.0 % (graphics etc.)
=========== end iLQG ===========
0.615370 seconds (799.34 k allocations: 211.943 MiB, 2.17% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 48.8226 26.1 26.1 0.113 0.0
2 22.7317 9.94 9.94 0.0805 -0.2
3 12.7893 4.78 4.78 0.0807 -0.6
4 8.01299 2.28 2.28 0.0985 -1.2
5 5.73459 0.9 0.9 0.142 -2.0
6 4.83467 0.225 0.225 0.158 -3.1
7 4.60934 0.0173 0.0173 0.0519 -4.3
8 4.59209 2.3e-05 2.3e-05 0.00209 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 4.592067
final grad: 3.572267e-06
final λ: 4.4841551e-08
time / iter: 66 ms
total time: 0.60 seconds, of which
derivs: 0.2 %
back pass: 93.5%
fwd pass: 4.9 %
other: 1.4 % (graphics etc.)
=========== end iLQG ===========
0.601455 seconds (799.35 k allocations: 211.943 MiB, 2.09% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.1126 22.3 22.3 0.105 0.0
2 27.7965 10.9 10.9 0.0826 -0.2
3 16.9389 6.63 6.63 0.0924 -0.6
4 10.3085 4.3 4.3 0.131 -1.2
5 6.0126 2.59 2.59 0.188 -2.0
6 3.41953 0.909 0.909 0.23 -3.1
7 2.5105 0.0606 0.0606 0.0777 -4.3
8 2.44988 6.98e-05 6.98e-05 0.00282 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 2.449809
final grad: 4.179431e-06
final λ: 4.4841551e-08
time / iter: 70 ms
total time: 0.63 seconds, of which
derivs: 0.2 %
back pass: 92.4%
fwd pass: 5.4 %
other: 2.0 % (graphics etc.)
=========== end iLQG ===========
0.637174 seconds (799.36 k allocations: 211.943 MiB, 1.99% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.5876 27.4 27.4 0.115 0.0
2 23.1825 11.8 11.8 0.0866 -0.2
3 11.4084 4.81 4.81 0.0753 -0.6
4 6.60107 1.94 1.94 0.0893 -1.2
5 4.6569 0.813 0.813 0.136 -2.0
6 3.84366 0.27 0.27 0.185 -3.1
7 3.57394 0.0145 0.0145 0.062 -4.3
8 3.5594 1.42e-05 1.42e-05 0.00223 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 3.559386
final grad: 3.623512e-06
final λ: 4.4841551e-08
time / iter: 72 ms
total time: 0.65 seconds, of which
derivs: 0.2 %
back pass: 93.9%
fwd pass: 4.6 %
other: 1.4 % (graphics etc.)
=========== end iLQG ===========
0.653662 seconds (799.35 k allocations: 211.943 MiB, 2.12% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.1689 19.5 19.5 0.0899 0.0
2 30.6861 10.8 10.8 0.0807 -0.2
3 19.8943 6.46 6.46 0.0939 -0.6
4 13.4378 3.31 3.31 0.137 -1.2
5 10.1309 1.54 1.54 0.187 -2.0
6 8.59308 0.518 0.518 0.216 -3.1
7 8.07536 0.0303 0.0303 0.0729 -4.3
8 8.04509 3.41e-05 3.41e-05 0.00263 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 8.045059
final grad: 4.137708e-06
final λ: 4.4841551e-08
time / iter: 76 ms
total time: 0.69 seconds, of which
derivs: 0.6 %
back pass: 92.7%
fwd pass: 5.0 %
other: 1.7 % (graphics etc.)
=========== end iLQG ===========
0.688659 seconds (799.34 k allocations: 211.943 MiB, 4.88% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 49.5152 16 16 0.0827 0.0
2 33.5492 10.7 10.7 0.0822 -0.2
3 22.8069 8.2 8.2 0.108 -0.6
4 14.6105 4.97 4.97 0.155 -1.2
5 9.63987 2.45 2.45 0.197 -2.0
6 7.18799 0.734 0.734 0.235 -3.1
7 6.45428 0.0327 0.0327 0.0695 -4.3
8 6.42159 2.8e-05 2.8e-05 0.00248 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 6.42156
final grad: 3.840252e-06
final λ: 4.4841551e-08
time / iter: 76 ms
total time: 0.69 seconds, of which
derivs: 0.2 %
back pass: 88.9%
fwd pass: 4.9 %
other: 6.0 % (graphics etc.)
=========== end iLQG ===========
0.691139 seconds (799.35 k allocations: 211.943 MiB, 2.45% gc time)
Running linear demo function for DifferentialDynamicProgramming.jl
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.5501 17.4 17.4 0.0881 0.0
2 33.103 10.6 10.6 0.0826 -0.2
3 22.4603 7.29 7.29 0.105 -0.6
4 15.1702 4.14 4.14 0.14 -1.2
5 11.0316 2.01 2.01 0.196 -2.0
6 9.02616 0.682 0.682 0.226 -3.1
7 8.34411 0.0569 0.0569 0.0732 -4.3
8 8.28723 7.57e-05 7.57e-05 0.0027 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 8.287156
final grad: 4.571611e-06
final λ: 4.4841551e-08
time / iter: 101 ms
total time: 0.91 seconds, of which
derivs: 0.1 %
back pass: 94.0%
fwd pass: 4.4 %
other: 1.5 % (graphics etc.)
=========== end iLQG ===========
5.672806 seconds (2.92 M allocations: 312.406 MiB, 6.04% gc time)
Install package Plots.jl (and call using Plots) to plot results in the end of demo_linear
Running linear demo function with KL-divergence constraint for DifferentialDynamicProgramming.jl
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 27.8357 22.3 15.2 0.135 -1.00 0.00724 1.83
2 1.11402e+58 -1.11e+58 8.78e+64 4.3e+28 -0.35 1.11e+58 -5.98
3 9.58716e+10 -9.59e+10 1.35e+18 4.95e+06 -0.17 9.55e+10 -2.04
4 4.53009e+08 -4.53e+08 9.88e+14 3.65e+05 -0.09 4.49e+08 -0.0591
5 2.39075e+06 -2.39e+06 1e+12 1.88e+04 -0.04 2.32e+06 0.92
6 15797.2 -1.57e+04 1.56e+09 962 -0.02 1.41e+04 1.4
7 123.961 -73.8 5.65e+06 68 -0.03 72.8 1.63
8 2039.83 -1.99e+03 1.28e+08 298 -0.03 1.68e+03 1.52
9 561.524 -511 2.9e+07 148 -0.02 421 1.58
10 270.123 -220 1.3e+07 102 -0.02 186 1.61
iteration est. cost reduction expected gradient log10(η) divergence entropy
11 183.686 -134 8.62e+06 83.3 -0.02 118 1.62
12 150.97 -101 6.99e+06 75.3 -0.02 93.2 1.63
SUCCESS: abs(KL-divergence) < kl_step
iterations: 12
final cost: 150.9701
final grad: 75.31578
final λ: 9.4980540e-01
time / iter: 420 ms
total time: 5.04 seconds, of which
derivs: 0.0 %
back pass: 79.3%
fwd pass: 12.8%
other: 8.0 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 150.9701411319921
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 150.845 0.125 0.0627 0.000257 -1.00 6.32e-05 1.63
2 8.67577e+49 -8.68e+49 2.69e+55 1.72e+23 -0.26 8.68e+49 -3.77
3 1.64845e+42 -1.65e+42 1.26e+47 5.05e+19 -0.13 1.66e+42 -0.819
4 7.42266e+38 -7.42e+38 2.61e+43 1.9e+18 -0.06 7.54e+38 0.641
5 3.88811e+33 -3.89e+33 1.89e+37 2.02e+15 -0.03 4.04e+33 1.34
6 2.28593e+13 -2.29e+13 6.04e+16 4e+05 -0.02 5.34e+13 1.6
7 150.909 0.0609 0.111 0.00514 -0.02 0.000112 1.63
8 144.585 6.39 1.08e+05 4.48 -0.02 107 1.62
SUCCESS: abs(KL-divergence) < kl_step
iterations: 8
final cost: 144.5848
final grad: 4.47534
final λ: 9.4581571e-01
time / iter: 181 ms
total time: 1.45 seconds, of which
derivs: 0.0 %
back pass: 70.5%
fwd pass: 27.1%
other: 2.3 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 144.58478731393964
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 144.464 0.121 0.0604 0.000201 -1.00 6.09e-05 1.62
2 6.16923e+110 -6.17e+110 1.48e+117 3.57e+53 -0.35 6.19e+110 -5.81
3 2.48136e+43 -2.48e+43 3.3e+48 1.7e+20 -0.17 2.49e+43 -1.83
4 3.08663e+40 -3.09e+40 1.37e+45 1e+19 -0.09 3.12e+40 0.146
5 2.77338e+37 -2.77e+37 2.27e+41 1.6e+17 -0.04 2.81e+37 1.11
6 1.26442e+24 -1.26e+24 1.1e+28 9.4e+10 -0.02 3.05e+24 1.53
7 145.105 -0.52 6.42 0.0372 -0.03 0.00639 1.62
8 1.39242e+13 -1.39e+13 4.03e+16 3.18e+05 -0.03 3.52e+13 1.6
9 4533.19 -4.39e+03 1.73e+08 80.9 -0.02 1.68e+05 1.61
10 143.004 1.58 6.54e+03 1.09 -0.03 6.46 1.62
iteration est. cost reduction expected gradient log10(η) divergence entropy
11 132.482 12.1 1.1e+06 9.27 -0.03 1.08e+03 1.61
12 137.19 7.4 8.55e+04 3.17 -0.03 84.3 1.62
EXIT: η > ηmax
iterations: 12
final cost: 137.1896
final grad: 3.16699
final λ: 9.4315878e-01
time / iter: 176 ms
total time: 2.12 seconds, of which
derivs: 0.0 %
back pass: 68.3%
fwd pass: 29.5%
other: 2.2 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 137.18959668341842
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 137.077 0.113 0.0563 0.000228 -1.00 5.68e-05 1.61
2 6.57677e+56 -6.58e+56 1.29e+62 2.6e+26 -0.26 6.61e+56 -3.76
3 2.24708e+42 -2.25e+42 1.7e+47 7.1e+19 -0.13 2.26e+42 -0.811
4 1.03766e+39 -1.04e+39 3.75e+43 2.91e+18 -0.06 1.06e+39 0.648
5 4.46826e+33 -4.47e+33 2.79e+37 3.42e+15 -0.03 4.78e+33 1.34
6 1.58607e+12 -1.59e+12 4.83e+15 1.35e+05 -0.02 4.27e+12 1.6
7 137.143 0.047 0.25 0.00578 -0.02 0.000251 1.61
8 137.153 0.0363 596 0.228 -0.03 0.589 1.61
9 89122.6 -8.9e+04 1.41e+09 183 -0.03 1.35e+06 1.61
10 108.465 28.7 5.37e+05 5.71 -0.03 526 1.61
iteration est. cost reduction expected gradient log10(η) divergence entropy
11 130.595 6.59 8.66e+03 0.934 -0.03 8.53 1.61
12 120.625 16.6 6.75e+04 2.32 -0.03 66.3 1.61
EXIT: η > ηmax
iterations: 12
final cost: 120.6249
final grad: 2.317702
final λ: 9.4198159e-01
time / iter: 170 ms
total time: 2.04 seconds, of which
derivs: 0.0 %
back pass: 70.3%
fwd pass: 26.3%
other: 3.3 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 120.62492702546206
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 120.527 0.098 0.049 0.000211 -1.00 4.95e-05 1.61
2 4.07788e+67 -4.08e+67 7.43e+72 7.33e+31 -0.26 4.09e+67 -3.76
3 2.86337e+42 -2.86e+42 2.03e+47 8.13e+19 -0.13 2.89e+42 -0.809
4 1.37729e+39 -1.38e+39 4.34e+43 3.33e+18 -0.06 1.4e+39 0.65
5 4.42603e+33 -4.43e+33 3.1e+37 3.44e+15 -0.03 4.83e+33 1.34
6 5.32693e+11 -5.33e+11 1.78e+15 8.76e+04 -0.02 1.58e+12 1.6
7 120.586 0.0389 0.394 0.00738 -0.02 0.000394 1.61
8 121.979 -1.35 1.63e+03 0.297 -0.03 1.61 1.61
9 29675.2 -2.96e+04 2.51e+08 77.8 -0.03 2.41e+05 1.61
10 107.276 13.3 1.04e+05 2.15 -0.03 101 1.61
SUCCESS: abs(KL-divergence) < kl_step
iterations: 10
final cost: 107.2758
final grad: 2.151343
final λ: 9.4143513e-01
time / iter: 151 ms
total time: 1.51 seconds, of which
derivs: 0.0 %
back pass: 67.6%
fwd pass: 28.0%
other: 4.3 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 107.27584237652106
21.067880 seconds (17.11 M allocations: 3.048 GiB, 7.20% gc time)
Install package Plots.jl (and call using Plots) to plot results in the end of demo_linear
Entering iLQG function
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 33409.7 2.21e+03 3.57e+03 2.35 0.0
2 31195 705 1.57e+03 0.7 -0.2
3 30489.9 537 1.82e+03 0.719 -0.6
4 29952.6 13.9 479 0.406 -1.2
5 29938.7 224 896 0.427 -2.0
6 29714.5 257 260 0.254 -3.1
7 29457.7 10.2 86.3 0.159 -4.3
8 29447.5 79.8 90.3 0.16 -5.7
9 29367.7 18.1 20.4 0.0844 -7.3
10 29349.5 4.78 5.23 0.0469 -9.2
iteration cost reduction expected gradient log10(λ) η divergence
11 29344.8 0.633 1.81 0.027 -11.2
12 29344.1 1.25 1.62 0.0218 -13.5
13 29342.9 1.38 2.12 0.0204 -15.9
14 29341.5 0.221 0.471 0.0109 -18.6
15 29341.3 0.0322 0.111 0.00601 -21.4
16 29341.2 0.0121 0.0284 0.00338 -24.5
17 29341.2 0.0289 0.00881 0.00194 -27.8
18 29341.2 0.146 0.00967 0.00162 -31.2
19 NO STEP -8.15e-05 4.49e-05 0.00151 -6.0
20 NO STEP -8.15e-05 4.49e-05 0.00151 -5.8
iteration cost reduction expected gradient log10(λ) η divergence
21 NO STEP -8.15e-05 4.49e-05 0.00151 -5.4
22 NO STEP -8.15e-05 4.49e-05 0.00151 -4.8
23 NO STEP -8.15e-05 4.49e-05 0.00151 -4.0
24 NO STEP -8.15e-05 4.49e-05 0.00151 -2.9
25 NO STEP -8.15e-05 4.49e-05 0.00151 -1.7
26 NO STEP -8.15e-05 4.49e-05 0.00151 -0.3
27 NO STEP -8.1e-05 4.49e-05 0.00151 1.3
28 NO STEP -6.37e-05 4.28e-05 0.00142 3.2
29 29341 0.0181 0.00494 0.000294 3.2
30 29341 0.0108 0.00163 0.000587 3.0
iteration cost reduction expected gradient log10(λ) η divergence
31 29341 0.0124 0.00142 0.000705 2.6
32 NO STEP -1.52e-05 4.11e-06 0.000713 1.3
33 NO STEP -3.25e-05 8.4e-06 0.00108 1.6
34 NO STEP -2.93e-05 7.42e-06 0.000994 2.0
35 NO STEP -1.52e-05 4.11e-06 0.000713 2.6
36 29341 0.000673 0.00041 0.000329 2.6
37 NO STEP -4.48e-06 1.01e-06 0.000377 2.2
38 NO STEP -1.02e-05 1.94e-06 0.000507 2.4
39 NO STEP -4.48e-06 1.01e-06 0.000377 2.8
40 NO STEP -6.87e-07 2.39e-07 0.000187 3.4
iteration cost reduction expected gradient log10(λ) η divergence
41 NO STEP -7.03e-08 2.96e-08 5.16e-05 4.2
42 NO STEP -1.2e-09 2.86e-09 8.09e-06 5.2
43 29341 5.78e-07 3.77e-07 7.76e-07 5.2
44 29341 5.64e-07 6e-07 1.24e-06 5.0
45 NO STEP -2.04e-10 1.02e-09 3.16e-06 4.2
46 NO STEP -2.87e-09 2.84e-09 8.08e-06 4.4
47 NO STEP -9.57e-10 1.69e-09 5.06e-06 4.8
48 29341 1.43e-07 9.56e-07 1.98e-06 4.8
49 NO STEP -7.68e-10 1.01e-09 3.16e-06 4.4
50 NO STEP -1.79e-09 1.68e-09 5.05e-06 4.6
iteration cost reduction expected gradient log10(λ) η divergence
51 NO STEP -7.68e-10 1.01e-09 3.16e-06 5.0
52 NO STEP -1.2e-10 3.82e-10 1.23e-06 5.6
53 29341 2.91e-11 3.99e-10 3.01e-07 5.6
SUCCESS: cost change < tol_fun
iterations: 53
final cost: 29341
final grad: 3.014034e-07
final λ: 2.6959947e+05
time / iter: 511 ms
total time: 27.07 seconds, of which
derivs: 27.6%
back pass: 60.5%
fwd pass: 10.6%
other: 1.3 % (graphics etc.)
=========== end iLQG ===========
Install package Plots.jl (and call using Plots) to plot results in the end of demo_pendcart
Done
==========
Starting box-QP, dimension 500, initial value: 60999.702
RESULT: Gradient norm smaller than tolerance.
iterations 16 gradient 3.41715e-12 final value -21.0585 factorizations 15
5.066377 seconds (842 allocations: 82.713 MiB, 2.41% gc time)
Testing DifferentialDynamicProgramming tests passed