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1.5.0-DEV-4085873ec6.log
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Julia Version 1.5.0-DEV.431
Commit 4085873ec6 (2020-03-10 23:48 UTC)
Platform Info:
OS: Linux (x86_64-pc-linux-gnu)
CPU: Intel(R) Xeon(R) Silver 4114 CPU @ 2.20GHz
WORD_SIZE: 64
LIBM: libopenlibm
LLVM: libLLVM-9.0.1 (ORCJIT, skylake)
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 ───────────────── v0.5.1
Installed RecipesBase ──────────────────── v0.8.0
Installed OrderedCollections ───────────── v1.1.0
Installed Parameters ───────────────────── v0.12.0
Installed DataStructures ───────────────── v0.17.10
Updating `~/.julia/environments/v1.5/Project.toml`
9cd584b6 + DifferentialDynamicProgramming v0.4.0
Updating `~/.julia/environments/v1.5/Manifest.toml`
864edb3b + DataStructures v0.17.10
9cd584b6 + DifferentialDynamicProgramming v0.4.0
5e7a79f3 + LinearTimeVaryingModelsBase v0.2.1
bac558e1 + OrderedCollections v1.1.0
d96e819e + Parameters v0.12.0
3cdcf5f2 + RecipesBase v0.8.0
ae029012 + Requires v1.0.1
98cad3c8 + ValueHistories v0.5.1
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_TSyIMM/Project.toml`
9cd584b6 DifferentialDynamicProgramming v0.4.0
5e7a79f3 LinearTimeVaryingModelsBase v0.2.1
ae029012 Requires v1.0.1
98cad3c8 ValueHistories v0.5.1
37e2e46d LinearAlgebra
de0858da Printf
9a3f8284 Random
10745b16 Statistics
8dfed614 Test
Status `/tmp/jl_TSyIMM/Manifest.toml`
864edb3b DataStructures v0.17.10
9cd584b6 DifferentialDynamicProgramming v0.4.0
5e7a79f3 LinearTimeVaryingModelsBase v0.2.1
bac558e1 OrderedCollections v1.1.0
d96e819e Parameters v0.12.0
3cdcf5f2 RecipesBase v0.8.0
ae029012 Requires v1.0.1
98cad3c8 ValueHistories v0.5.1
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 50.1247 17.6 17.6 0.0911 0.0
2 32.5587 12 12 0.0906 -0.2
3 20.5755 8.6 8.6 0.113 -0.6
4 11.9772 4.61 4.61 0.144 -1.2
5 7.36242 1.78 1.78 0.168 -2.0
6 5.58242 0.428 0.428 0.219 -3.1
7 5.15461 0.0223 0.0223 0.0703 -4.3
8 5.13227 2.27e-05 2.27e-05 0.00245 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 5.132252
final grad: 3.874959e-06
final λ: 4.4841551e-08
time / iter: 280 ms
total time: 2.52 seconds, of which
derivs: 0.0 %
back pass: 39.1%
fwd pass: 2.3 %
other: 58.5% (graphics etc.)
=========== end iLQG ===========
16.716143 seconds (16.25 M allocations: 929.884 MiB, 4.86% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.0885 20.8 20.8 0.107 0.0
2 29.2398 9.11 9.11 0.0838 -0.2
3 20.1308 4.63 4.63 0.082 -0.6
4 15.5039 3.22 3.22 0.118 -1.2
5 12.2853 1.77 1.77 0.214 -2.0
6 10.5119 0.363 0.363 0.211 -3.1
7 10.1489 0.0144 0.0144 0.0593 -4.3
8 10.1345 1.31e-05 1.31e-05 0.00201 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 10.13451
final grad: 3.248093e-06
final λ: 4.4841551e-08
time / iter: 61 ms
total time: 0.55 seconds, of which
derivs: 0.2 %
back pass: 90.6%
fwd pass: 6.3 %
other: 2.8 % (graphics etc.)
=========== end iLQG ===========
0.648287 seconds (907.18 k allocations: 214.129 MiB, 19.76% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 51.0601 21.5 21.5 0.109 0.0
2 29.5361 10.6 10.6 0.0916 -0.2
3 18.8912 6.07 6.07 0.0966 -0.6
4 12.8247 4.26 4.26 0.134 -1.2
5 8.56329 2.68 2.68 0.251 -2.0
6 5.87883 0.587 0.587 0.254 -3.1
7 5.29149 0.0186 0.0186 0.0679 -4.3
8 5.27286 1.28e-05 1.28e-05 0.00229 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 5.272849
final grad: 3.49079e-06
final λ: 4.4841551e-08
time / iter: 73 ms
total time: 0.66 seconds, of which
derivs: 2.6 %
back pass: 87.2%
fwd pass: 5.6 %
other: 4.7 % (graphics etc.)
=========== end iLQG ===========
0.659682 seconds (907.17 k allocations: 214.129 MiB, 8.06% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.2998 20.4 20.4 0.101 0.0
2 29.8672 10.5 10.5 0.0849 -0.2
3 19.4016 7.13 7.13 0.102 -0.6
4 12.2673 4.63 4.63 0.136 -1.2
5 7.64203 2.03 2.03 0.183 -2.0
6 5.61641 0.353 0.353 0.182 -3.1
7 5.26311 0.0122 0.0122 0.0591 -4.3
8 5.25088 9.73e-06 9.73e-06 0.00208 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 5.250866
final grad: 3.203902e-06
final λ: 4.4841551e-08
time / iter: 60 ms
total time: 0.54 seconds, of which
derivs: 0.2 %
back pass: 90.0%
fwd pass: 5.8 %
other: 4.1 % (graphics etc.)
=========== end iLQG ===========
0.544967 seconds (907.18 k allocations: 214.129 MiB, 5.63% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 49.7243 26.2 26.2 0.113 0.0
2 23.4751 8.95 8.95 0.0763 -0.2
3 14.5222 3.04 3.04 0.0648 -0.6
4 11.4817 1.14 1.14 0.0717 -1.2
5 10.3406 0.748 0.748 0.13 -2.0
6 9.59252 0.308 0.308 0.184 -3.1
7 9.28464 0.018 0.018 0.055 -4.3
8 9.26669 1.85e-05 1.85e-05 0.00208 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 9.266675
final grad: 3.309447e-06
final λ: 4.4841551e-08
time / iter: 56 ms
total time: 0.50 seconds, of which
derivs: 0.2 %
back pass: 92.1%
fwd pass: 6.1 %
other: 1.5 % (graphics etc.)
=========== end iLQG ===========
0.504321 seconds (907.19 k allocations: 214.129 MiB, 4.68% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.6086 26.8 26.8 0.116 0.0
2 23.799 11.6 11.6 0.0886 -0.2
3 12.1548 4.97 4.97 0.0778 -0.6
4 7.18008 2.4 2.4 0.0833 -1.2
5 4.77537 1.18 1.18 0.135 -2.0
6 3.59532 0.237 0.237 0.167 -3.1
7 3.35866 0.0103 0.0103 0.0556 -4.3
8 3.34832 1.16e-05 1.16e-05 0.00203 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 3.348307
final grad: 3.361818e-06
final λ: 4.4841551e-08
time / iter: 67 ms
total time: 0.61 seconds, of which
derivs: 0.2 %
back pass: 92.0%
fwd pass: 5.7 %
other: 2.1 % (graphics etc.)
=========== end iLQG ===========
0.610414 seconds (907.19 k allocations: 214.130 MiB, 3.79% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 48.8912 22 22 0.103 0.0
2 26.9357 11.1 11.1 0.0851 -0.2
3 15.8772 6.43 6.43 0.0924 -0.6
4 9.45055 3.98 3.98 0.119 -1.2
5 5.46989 2.52 2.52 0.172 -2.0
6 2.95429 0.949 0.949 0.205 -3.1
7 2.0054 0.0605 0.0605 0.0776 -4.3
8 1.94491 6.9e-05 6.9e-05 0.00298 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 1.944839
final grad: 4.641227e-06
final λ: 4.4841551e-08
time / iter: 72 ms
total time: 0.65 seconds, of which
derivs: 0.2 %
back pass: 92.3%
fwd pass: 6.0 %
other: 1.6 % (graphics etc.)
=========== end iLQG ===========
0.650315 seconds (907.18 k allocations: 214.129 MiB, 4.53% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 51.6099 26.7 26.7 0.106 0.0
2 24.8642 11.5 11.5 0.0823 -0.2
3 13.3665 4.88 4.88 0.076 -0.6
4 8.48701 2.25 2.25 0.0841 -1.2
5 6.23922 0.851 0.851 0.143 -2.0
6 5.38792 0.111 0.111 0.132 -3.1
7 5.27669 0.00519 0.00519 0.0456 -4.3
8 5.27149 6.93e-06 6.93e-06 0.00189 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 5.271487
final grad: 3.213114e-06
final λ: 4.4841551e-08
time / iter: 59 ms
total time: 0.54 seconds, of which
derivs: 0.2 %
back pass: 91.8%
fwd pass: 6.6 %
other: 1.4 % (graphics etc.)
=========== end iLQG ===========
0.538270 seconds (907.17 k allocations: 214.129 MiB, 4.04% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 51.0102 26.2 26.2 0.115 0.0
2 24.8497 10.8 10.8 0.085 -0.2
3 14.0186 5.39 5.39 0.0863 -0.6
4 8.62521 3.01 3.01 0.107 -1.2
5 5.61383 1.65 1.65 0.169 -2.0
6 3.96697 0.404 0.404 0.187 -3.1
7 3.56312 0.018 0.018 0.0558 -4.3
8 3.54514 1.79e-05 1.79e-05 0.00216 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 3.545121
final grad: 3.581447e-06
final λ: 4.4841551e-08
time / iter: 66 ms
total time: 0.59 seconds, of which
derivs: 0.9 %
back pass: 92.0%
fwd pass: 5.4 %
other: 1.7 % (graphics etc.)
=========== end iLQG ===========
0.593644 seconds (907.19 k allocations: 214.129 MiB, 3.80% gc time)
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 50.642 15.2 15.2 0.0855 0.0
2 35.3962 9.74 9.74 0.0823 -0.2
3 25.6515 7.09 7.09 0.105 -0.6
4 18.5648 4.8 4.8 0.16 -1.2
5 13.7694 2.4 2.4 0.227 -2.0
6 11.372 0.627 0.627 0.233 -3.1
7 10.745 0.0337 0.0337 0.0694 -4.3
8 10.7113 4.03e-05 4.03e-05 0.00245 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 10.71122
final grad: 3.964869e-06
final λ: 4.4841551e-08
time / iter: 73 ms
total time: 0.66 seconds, of which
derivs: 0.2 %
back pass: 93.0%
fwd pass: 5.4 %
other: 1.4 % (graphics etc.)
=========== end iLQG ===========
0.666246 seconds (907.20 k allocations: 214.129 MiB, 6.98% gc time)
Running linear demo function for DifferentialDynamicProgramming.jl
---------- begin iLQG ----------
iteration cost reduction expected gradient log10(λ) η divergence
1 49.3316 13.8 13.8 0.0813 0.0
2 35.5392 8.61 8.61 0.0773 -0.2
3 26.9284 6.45 6.45 0.099 -0.6
4 20.4758 4.1 4.1 0.149 -1.2
5 16.3735 1.5 1.5 0.196 -2.0
6 14.8783 0.223 0.223 0.163 -3.1
7 14.6555 0.0077 0.0077 0.0513 -4.3
8 14.6478 7.76e-06 7.76e-06 0.00194 -5.7
SUCCESS: gradient norm < tol_grad
iterations: 9
final cost: 14.64778
final grad: 3.237175e-06
final λ: 4.4841551e-08
time / iter: 101 ms
total time: 0.91 seconds, of which
derivs: 0.2 %
back pass: 94.0%
fwd pass: 4.3 %
other: 1.5 % (graphics etc.)
=========== end iLQG ===========
5.742241 seconds (3.02 M allocations: 312.959 MiB, 6.71% 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 22.3322 26 17.3 0.123 -1.00 0.0095 1.83
2 1.28069e+10 -1.28e+10 5.37e+18 1.41e+07 -0.15 1.28e+10 -1.42
3 4.42424e+07 -4.42e+07 2.1e+15 5.75e+05 -0.07 4.39e+07 0.248
4 225219 -2.25e+05 9.57e+11 1.95e+04 -0.04 2.17e+05 1.07
5 1184.11 -1.14e+03 1.26e+09 945 -0.02 975 1.47
6 10.5919 37.7 7.69e+06 78.6 -0.03 1.46 1.67
7 123.307 -75 1.29e+08 312 -0.03 80.1 1.57
8 417.204 -369 4.22e+08 557 -0.03 317 1.52
9 232.39 -184 2.36e+08 420 -0.03 166 1.55
10 170.332 -122 1.75e+08 363 -0.03 116 1.56
iteration est. cost reduction expected gradient log10(η) divergence entropy
11 145.148 -96.8 1.5e+08 337 -0.03 96.9 1.57
SUCCESS: abs(KL-divergence) < kl_step
iterations: 11
final cost: 145.1481
final grad: 336.8931
final λ: 9.3750325e-01
time / iter: 255 ms
total time: 2.81 seconds, of which
derivs: 0.0 %
back pass: 75.0%
fwd pass: 16.6%
other: 8.4 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 145.1481073547954
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 145.037 0.111 0.0553 0.000151 -1.00 5.58e-05 1.57
2 2.90811e+55 -2.91e+55 1.05e+60 5.18e+25 -0.15 2.92e+55 -1.16
3 1.15096e+52 -1.15e+52 1.9e+56 2.01e+24 -0.07 1.17e+52 0.501
4 3.37113e+43 -3.37e+43 2.88e+47 2.66e+20 -0.04 4.69e+43 1.28
5 4.71286e+11 -4.71e+11 4.77e+15 2.03e+05 -0.02 4.61e+12 1.55
6 145.033 0.115 0.095 0.00299 -0.03 9.61e-05 1.57
7 145.657 -0.509 584 0.574 -0.03 0.564 1.56
8 12564.7 -1.24e+04 1.85e+08 115 -0.03 1.82e+05 1.56
9 138.563 6.59 1.43e+05 6.26 -0.03 142 1.56
10 145.127 0.0214 6.43e+03 1.76 -0.03 6.33 1.56
iteration est. cost reduction expected gradient log10(η) divergence entropy
11 143.3 1.85 2.83e+04 3.27 -0.03 28 1.56
EXIT: η > ηmax
iterations: 11
final cost: 143.2996
final grad: 3.267209
final λ: 9.3442150e-01
time / iter: 110 ms
total time: 1.21 seconds, of which
derivs: 0.0 %
back pass: 59.8%
fwd pass: 36.7%
other: 3.5 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 143.2996378785932
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 143.191 0.108 0.0541 0.000122 -1.00 5.46e-05 1.56
2 1.55674e+56 -1.56e+56 7.17e+60 1.68e+26 -0.15 1.57e+56 -1.15
3 1.68786e+52 -1.69e+52 2.71e+56 2.71e+24 -0.07 1.72e+52 0.505
4 3.1857e+43 -3.19e+43 2.94e+47 2.96e+20 -0.04 4.49e+43 1.28
5 1.39165e+11 -1.39e+11 9.75e+14 8.81e+04 -0.02 9.38e+11 1.55
6 143.187 0.113 0.0787 0.00117 -0.03 7.96e-05 1.56
7 143.893 -0.593 27.3 0.12 -0.03 0.0269 1.56
8 1666.27 -1.52e+03 2.06e+07 39.2 -0.03 2.03e+04 1.55
9 143.946 -0.647 8e+03 1.58 -0.03 7.93 1.56
10 145.28 -1.98 3.64e+05 7.52 -0.03 359 1.56
iteration est. cost reduction expected gradient log10(η) divergence entropy
11 142.342 0.958 5.21e+04 3.4 -0.03 51.6 1.56
EXIT: η > ηmax
iterations: 11
final cost: 142.3417
final grad: 3.39533
final λ: 9.3196340e-01
time / iter: 102 ms
total time: 1.12 seconds, of which
derivs: 0.0 %
back pass: 59.8%
fwd pass: 37.3%
other: 2.9 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 142.3416956113604
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 142.237 0.104 0.0522 0.000152 -1.00 5.26e-05 1.56
2 4.33473e+55 -4.33e+55 2.03e+60 1.08e+26 -0.15 4.37e+55 -1.15
3 2.29364e+52 -2.29e+52 3.65e+56 4.75e+24 -0.07 2.33e+52 0.507
4 2.92665e+43 -2.93e+43 2.9e+47 3.69e+20 -0.04 4.18e+43 1.28
5 4.61146e+10 -4.61e+10 2.91e+14 4.56e+04 -0.02 2.79e+11 1.55
6 142.23 0.112 0.0977 0.0015 -0.03 9.85e-05 1.56
7 142.844 -0.502 13.9 0.0458 -0.03 0.0138 1.55
8 467.82 -325 3.21e+06 15.5 -0.03 3.18e+03 1.55
9 144.594 -2.25 813 0.521 -0.03 0.807 1.55
10 150.678 -8.34 4.06e+04 2.68 -0.03 40.2 1.55
iteration est. cost reduction expected gradient log10(η) divergence entropy
11 179.865 -37.5 3.5e+05 6.39 -0.03 347 1.55
EXIT: η > ηmax
┌ Warning: KL divergence too high for some time steps when done
└ @ DifferentialDynamicProgramming ~/.julia/packages/DifferentialDynamicProgramming/DG1NV/src/iLQGkl.jl:248
iterations: 11
final cost: 179.865
final grad: 6.38689
final λ: 9.3073677e-01
time / iter: 113 ms
total time: 1.25 seconds, of which
derivs: 0.0 %
back pass: 59.7%
fwd pass: 36.9%
other: 3.3 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 179.8649740066802
---------- begin iLQG ----------
iteration est. cost reduction expected gradient log10(η) divergence entropy
1 179.749 0.116 0.0578 0.000165 -1.00 5.82e-05 1.55
2 4.79408e+56 -4.79e+56 1.98e+61 2.05e+26 -0.15 4.84e+56 -1.15
3 3.109e+52 -3.11e+52 4.99e+56 4.39e+24 -0.07 3.17e+52 0.509
4 2.60718e+43 -2.61e+43 2.8e+47 3.42e+20 -0.04 3.77e+43 1.29
5 1.48368e+10 -1.48e+10 9.3e+13 2.28e+04 -0.02 8.9e+10 1.54
6 179.709 0.156 0.33 0.00264 -0.03 0.00033 1.55
7 179.366 0.499 55.2 0.0431 -0.03 0.0549 1.55
8 363.425 -184 7.17e+05 5.69 -0.03 708 1.55
9 180.244 -0.379 530 0.222 -0.03 0.526 1.55
10 190.819 -11 8.04e+03 0.95 -0.03 7.96 1.55
iteration est. cost reduction expected gradient log10(η) divergence entropy
11 220.85 -41 7.1e+04 2.28 -0.03 70.2 1.55
EXIT: η > ηmax
iterations: 11
final cost: 220.8503
final grad: 2.281649
final λ: 9.2951176e-01
time / iter: 115 ms
total time: 1.27 seconds, of which
derivs: 0.0 %
back pass: 59.6%
fwd pass: 37.7%
other: 2.6 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 220.85032087779095
17.046560 seconds (19.10 M allocations: 3.162 GiB, 5.41% 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 -9.53e-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 -7.64e-10 1.01e-09 3.16e-06 4.4
50 NO STEP -1.78e-09 1.68e-09 5.05e-06 4.6
iteration cost reduction expected gradient log10(λ) η divergence
51 NO STEP -7.64e-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 4e-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: 365 ms
total time: 19.36 seconds, of which
derivs: 37.7%
back pass: 48.9%
fwd pass: 12.5%
other: 0.9 % (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: 66427.406
RESULT: Gradient norm smaller than tolerance.
iterations 15 gradient 2.39487e-12 final value -31.2095 factorizations 14
2.265187 seconds (1.07 k allocations: 78.075 MiB, 1.66% gc time)
Testing DifferentialDynamicProgramming tests passed