-
Notifications
You must be signed in to change notification settings - Fork 5
/
1.5.0-DEV-7206b56e94.log
767 lines (562 loc) · 30.2 KB
/
1.5.0-DEV-7206b56e94.log
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
Julia Version 1.5.0-DEV.485
Commit 7206b56e94 (2020-03-18 17:25 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)
Environment:
JULIA_DEPOT_PATH = ::/usr/local/share/julia
JULIA_NUM_THREADS = 2
Resolving package versions...
Installed LinearTimeVaryingModelsBase ──── v0.2.1
Installed Requires ─────────────────────── v1.0.1
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_VdAnXK/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_VdAnXK/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: 197 ms
total time: 1.78 seconds, of which
derivs: 0.1 %
back pass: 34.7%
fwd pass: 2.3 %
other: 62.9% (graphics etc.)
=========== end iLQG ===========
15.314635 seconds (14.56 M allocations: 878.944 MiB, 4.94% 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: 53 ms
total time: 0.48 seconds, of which
derivs: 0.2 %
back pass: 93.7%
fwd pass: 4.6 %
other: 1.4 % (graphics etc.)
=========== end iLQG ===========
0.483045 seconds (799.92 k allocations: 211.952 MiB, 6.95% 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: 44 ms
total time: 0.39 seconds, of which
derivs: 0.2 %
back pass: 92.5%
fwd pass: 5.5 %
other: 1.8 % (graphics etc.)
=========== end iLQG ===========
0.397227 seconds (799.91 k allocations: 211.951 MiB, 4.56% 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: 48 ms
total time: 0.44 seconds, of which
derivs: 0.3 %
back pass: 89.9%
fwd pass: 7.3 %
other: 2.5 % (graphics etc.)
=========== end iLQG ===========
0.438556 seconds (799.91 k allocations: 211.951 MiB, 4.44% 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: 73 ms
total time: 0.66 seconds, of which
derivs: 0.2 %
back pass: 93.9%
fwd pass: 4.6 %
other: 1.3 % (graphics etc.)
=========== end iLQG ===========
0.660049 seconds (799.92 k allocations: 211.952 MiB, 2.69% 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: 0.60 seconds, of which
derivs: 0.2 %
back pass: 84.0%
fwd pass: 14.4%
other: 1.4 % (graphics etc.)
=========== end iLQG ===========
0.610518 seconds (799.93 k allocations: 211.952 MiB, 3.65% 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: 63 ms
total time: 0.57 seconds, of which
derivs: 0.2 %
back pass: 84.3%
fwd pass: 13.8%
other: 1.8 % (graphics etc.)
=========== end iLQG ===========
0.573514 seconds (799.92 k allocations: 211.952 MiB, 3.84% 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: 65 ms
total time: 0.58 seconds, of which
derivs: 0.2 %
back pass: 91.2%
fwd pass: 7.0 %
other: 1.5 % (graphics etc.)
=========== end iLQG ===========
0.585111 seconds (799.91 k allocations: 211.951 MiB, 5.18% 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: 56 ms
total time: 0.50 seconds, of which
derivs: 0.2 %
back pass: 92.3%
fwd pass: 5.9 %
other: 1.6 % (graphics etc.)
=========== end iLQG ===========
0.505703 seconds (799.93 k allocations: 211.952 MiB, 4.83% 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: 57 ms
total time: 0.52 seconds, of which
derivs: 0.2 %
back pass: 81.2%
fwd pass: 16.6%
other: 2.0 % (graphics etc.)
=========== end iLQG ===========
0.517843 seconds (799.94 k allocations: 211.952 MiB, 4.47% 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: 67 ms
total time: 0.60 seconds, of which
derivs: 0.2 %
back pass: 92.8%
fwd pass: 5.5 %
other: 1.4 % (graphics etc.)
=========== end iLQG ===========
4.908415 seconds (2.84 M allocations: 309.098 MiB, 7.81% 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: 261 ms
total time: 2.87 seconds, of which
derivs: 0.0 %
back pass: 73.1%
fwd pass: 16.0%
other: 10.8% (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: 99 ms
total time: 1.09 seconds, of which
derivs: 0.0 %
back pass: 60.3%
fwd pass: 36.8%
other: 2.9 % (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: 95 ms
total time: 1.05 seconds, of which
derivs: 0.0 %
back pass: 62.2%
fwd pass: 34.2%
other: 3.6 % (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: 96 ms
total time: 1.06 seconds, of which
derivs: 0.0 %
back pass: 57.9%
fwd pass: 38.7%
other: 3.4 % (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: 83 ms
total time: 0.91 seconds, of which
derivs: 0.0 %
back pass: 59.9%
fwd pass: 36.5%
other: 3.6 % (graphics etc.)
=========== end iLQG ===========
Outer loop: Cost = 220.85032087779095
15.467542 seconds (17.12 M allocations: 3.107 GiB, 4.84% 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: 268 ms
total time: 14.21 seconds, of which
derivs: 26.7%
back pass: 57.3%
fwd pass: 14.7%
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: 66427.406
RESULT: Gradient norm smaller than tolerance.
iterations 15 gradient 2.39487e-12 final value -31.2095 factorizations 14
1.234015 seconds (853 allocations: 78.070 MiB, 2.41% gc time)
Testing DifferentialDynamicProgramming tests passed