Package evaluation to test DifferentialDynamicProgramming on Julia 1.14.0-DEV.1262 (4060c45d70*) started at 2025-11-18T14:06:38.431 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 9.13s ################################################################################ # Installation # Installing DifferentialDynamicProgramming... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [9cd584b6] + DifferentialDynamicProgramming v0.4.0 Updating `~/.julia/environments/v1.14/Manifest.toml` [34da2185] + Compat v4.18.1 ⌅ [864edb3b] + DataStructures v0.18.22 [9cd584b6] + DifferentialDynamicProgramming v0.4.0 [5e7a79f3] + LinearTimeVaryingModelsBase v0.2.1 [bac558e1] + OrderedCollections v1.8.1 [d96e819e] + Parameters v0.12.3 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.0 [3cdcf5f2] + RecipesBase v1.3.4 [ae029012] + Requires v1.3.1 [10745b16] + Statistics v1.11.1 [3a884ed6] + UnPack v1.0.2 [98cad3c8] + ValueHistories v0.5.4 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.12.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [de0858da] + Printf v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [f489334b] + StyledStrings v1.11.0 [fa267f1f] + TOML v1.0.3 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [4536629a] + OpenBLAS_jll v0.3.29+0 [8e850b90] + libblastrampoline_jll v5.15.0+0 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated -m` Installation completed after 1.14s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Error: Failed to use TestEnv.jl; test dependencies will not be precompiled │ exception = │ UndefVarError: `project_rel_path` not defined in `TestEnv` │ Suggestion: this global was defined as `Pkg.Operations.project_rel_path` but not assigned a value. │ Stacktrace: │ [1] get_test_dir(ctx::Pkg.Types.Context, pkgspec::PackageSpec) │ @ TestEnv ~/.julia/packages/TestEnv/i9lgt/src/julia-1.11/common.jl:75 │ [2] test_dir_has_project_file │ @ ~/.julia/packages/TestEnv/i9lgt/src/julia-1.11/common.jl:52 [inlined] │ [3] maybe_gen_project_override! │ @ ~/.julia/packages/TestEnv/i9lgt/src/julia-1.11/common.jl:83 [inlined] │ [4] activate(pkg::String; allow_reresolve::Bool) │ @ TestEnv ~/.julia/packages/TestEnv/i9lgt/src/julia-1.11/activate_set.jl:12 │ [5] activate(pkg::String) │ @ TestEnv ~/.julia/packages/TestEnv/i9lgt/src/julia-1.11/activate_set.jl:9 │ [6] top-level scope │ @ /PkgEval.jl/scripts/precompile.jl:24 │ [7] include(mod::Module, _path::String) │ @ Base ./Base.jl:309 │ [8] exec_options(opts::Base.JLOptions) │ @ Base ./client.jl:344 │ [9] _start() │ @ Base ./client.jl:577 └ @ Main /PkgEval.jl/scripts/precompile.jl:26 Precompiling package dependencies... Precompiling packages... 3076.0 ms ✓ LinearTimeVaryingModelsBase 1931.4 ms ✓ ValueHistories 2219.5 ms ✓ DifferentialDynamicProgramming 3 dependencies successfully precompiled in 7 seconds. 24 already precompiled. Precompilation completed after 20.33s ################################################################################ # Testing # Testing DifferentialDynamicProgramming Status `/tmp/jl_9jUn3q/Project.toml` [9cd584b6] DifferentialDynamicProgramming v0.4.0 [5e7a79f3] LinearTimeVaryingModelsBase v0.2.1 [ae029012] Requires v1.3.1 [10745b16] Statistics v1.11.1 [98cad3c8] ValueHistories v0.5.4 [37e2e46d] LinearAlgebra v1.13.0 [de0858da] Printf v1.11.0 [9a3f8284] Random v1.11.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_9jUn3q/Manifest.toml` [34da2185] Compat v4.18.1 ⌅ [864edb3b] DataStructures v0.18.22 [9cd584b6] DifferentialDynamicProgramming v0.4.0 [5e7a79f3] LinearTimeVaryingModelsBase v0.2.1 [bac558e1] OrderedCollections v1.8.1 [d96e819e] Parameters v0.12.3 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.0 [3cdcf5f2] RecipesBase v1.3.4 [ae029012] Requires v1.3.1 [10745b16] Statistics v1.11.1 [3a884ed6] UnPack v1.0.2 [98cad3c8] ValueHistories v0.5.4 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.12.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [de0858da] Printf v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [f489334b] StyledStrings v1.11.0 [fa267f1f] TOML v1.0.3 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [4536629a] OpenBLAS_jll v0.3.29+0 [8e850b90] libblastrampoline_jll v5.15.0+0 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. Testing Running tests... [ 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 50.5406 25.4 25.4 0.11 0.0 2 25.1222 11.2 11.2 0.0861 -0.2 3 13.9263 4.67 4.67 0.078 -0.6 4 9.25328 2.16 2.16 0.08 -1.2 5 7.09204 1.03 1.03 0.143 -2.0 6 6.0603 0.183 0.183 0.146 -3.1 7 5.87775 0.00911 0.00911 0.053 -4.3 8 5.86864 1.18e-05 1.18e-05 0.00209 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 5.868629 final grad: 3.587045e-06 final λ: 4.4841551e-08 time / iter: 790 ms total time: 7.11 seconds, of which derivs: 0.0 % back pass: 36.4% fwd pass: 0.7 % other: 62.9% (graphics etc.) =========== end iLQG =========== 30.378007 seconds (11.40 M allocations: 739.404 MiB, 1.27% gc time, 98.01% compilation time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 49.945 24 24 0.11 0.0 2 25.9622 11 11 0.0881 -0.2 3 14.9145 4.64 4.64 0.0827 -0.6 4 10.2707 2.2 2.2 0.0941 -1.2 5 8.07054 1.74 1.74 0.193 -2.0 6 6.32999 0.682 0.682 0.251 -3.1 7 5.64822 0.026 0.026 0.0708 -4.3 8 5.62225 1.59e-05 1.59e-05 0.00234 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 5.622229 final grad: 3.585055e-06 final λ: 4.4841551e-08 time / iter: 38 ms total time: 0.34 seconds, of which derivs: 0.2 % back pass: 92.1% fwd pass: 6.6 % other: 1.1 % (graphics etc.) =========== end iLQG =========== 0.340254 seconds (1.53 M allocations: 215.778 MiB, 13.87% gc time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 49.5199 25.4 25.4 0.118 0.0 2 24.1386 9.2 9.2 0.0828 -0.2 3 14.9405 3.88 3.88 0.0749 -0.6 4 11.0576 1.94 1.94 0.102 -1.2 5 9.12104 1.05 1.05 0.169 -2.0 6 8.07412 0.433 0.433 0.208 -3.1 7 7.64072 0.0283 0.0283 0.0673 -4.3 8 7.6124 3.09e-05 3.09e-05 0.00241 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 7.612373 final grad: 3.725665e-06 final λ: 4.4841551e-08 time / iter: 36 ms total time: 0.32 seconds, of which derivs: 0.2 % back pass: 92.9% fwd pass: 5.6 % other: 1.2 % (graphics etc.) =========== end iLQG =========== 0.322205 seconds (1.53 M allocations: 215.778 MiB, 9.18% gc time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 50.7641 31.1 31.1 0.133 0.0 2 19.6176 8.8 8.8 0.0768 -0.2 3 10.8152 3.81 3.81 0.0681 -0.6 4 7.00581 2.03 2.03 0.098 -1.2 5 4.97116 0.842 0.842 0.139 -2.0 6 4.12893 0.262 0.262 0.138 -3.1 7 3.86677 0.0201 0.0201 0.0558 -4.3 8 3.84667 2.53e-05 2.53e-05 0.00214 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 3.846644 final grad: 3.601911e-06 final λ: 4.4841551e-08 time / iter: 35 ms total time: 0.32 seconds, of which derivs: 0.2 % back pass: 93.3% fwd pass: 5.6 % other: 0.9 % (graphics etc.) =========== end iLQG =========== 0.318539 seconds (1.53 M allocations: 215.778 MiB, 8.20% gc time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 49.7171 13.6 13.6 0.0798 0.0 2 36.0754 10 10 0.0825 -0.2 3 26.0371 8.33 8.33 0.111 -0.6 4 17.7089 6.35 6.35 0.184 -1.2 5 11.355 3.34 3.34 0.298 -2.0 6 8.01203 1.02 1.02 0.281 -3.1 7 6.98759 0.0741 0.0741 0.0968 -4.3 8 6.91348 9.1e-05 9.1e-05 0.00342 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 6.913388 final grad: 5.264572e-06 final λ: 4.4841551e-08 time / iter: 36 ms total time: 0.32 seconds, of which derivs: 0.2 % back pass: 91.9% fwd pass: 5.5 % other: 2.4 % (graphics etc.) =========== end iLQG =========== 0.325397 seconds (1.53 M allocations: 215.778 MiB, 9.59% gc time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 50.8156 15.1 15.1 0.0834 0.0 2 35.7228 11.7 11.7 0.0889 -0.2 3 24.0224 9.33 9.33 0.118 -0.6 4 14.6916 4.77 4.77 0.153 -1.2 5 9.91961 1.42 1.42 0.167 -2.0 6 8.49872 0.384 0.384 0.23 -3.1 7 8.1151 0.0205 0.0205 0.0774 -4.3 8 8.09455 1.73e-05 1.73e-05 0.00254 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 8.094537 final grad: 3.760267e-06 final λ: 4.4841551e-08 time / iter: 35 ms total time: 0.32 seconds, of which derivs: 0.2 % back pass: 93.2% fwd pass: 5.5 % other: 1.1 % (graphics etc.) =========== end iLQG =========== 0.319791 seconds (1.53 M allocations: 215.778 MiB, 8.48% gc time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 51.3472 15.2 15.2 0.0872 0.0 2 36.1788 9.29 9.29 0.0815 -0.2 3 26.8917 7.29 7.29 0.105 -0.6 4 19.5997 4.61 4.61 0.164 -1.2 5 14.9942 1.98 1.98 0.234 -2.0 6 13.0173 0.683 0.683 0.252 -3.1 7 12.3339 0.0433 0.0433 0.0942 -4.3 8 12.2907 4.08e-05 4.08e-05 0.00311 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 12.29064 final grad: 4.292351e-06 final λ: 4.4841551e-08 time / iter: 36 ms total time: 0.32 seconds, of which derivs: 0.2 % back pass: 92.8% fwd pass: 5.8 % other: 1.2 % (graphics etc.) =========== end iLQG =========== 0.326734 seconds (1.53 M allocations: 215.779 MiB, 9.57% gc time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 50.5786 20 20 0.102 0.0 2 30.5672 10.2 10.2 0.0875 -0.2 3 20.4147 5.94 5.94 0.1 -0.6 4 14.4719 3.43 3.43 0.139 -1.2 5 11.0397 1.56 1.56 0.192 -2.0 6 9.48304 0.355 0.355 0.189 -3.1 7 9.1278 0.0202 0.0202 0.0566 -4.3 8 9.10756 2.51e-05 2.51e-05 0.00211 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 9.107535 final grad: 3.473561e-06 final λ: 4.4841551e-08 time / iter: 36 ms total time: 0.32 seconds, of which derivs: 0.2 % back pass: 91.8% fwd pass: 5.5 % other: 2.5 % (graphics etc.) =========== end iLQG =========== 0.324991 seconds (1.53 M allocations: 215.778 MiB, 8.53% gc time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 49.1881 14.6 14.6 0.0844 0.0 2 34.5736 11 11 0.0875 -0.2 3 23.6008 8.71 8.71 0.112 -0.6 4 14.888 5.36 5.36 0.157 -1.2 5 9.52959 2.38 2.38 0.205 -2.0 6 7.14743 0.824 0.824 0.272 -3.1 7 6.32314 0.0662 0.0662 0.0914 -4.3 8 6.25693 8.1e-05 8.1e-05 0.00339 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 6.256852 final grad: 5.208229e-06 final λ: 4.4841551e-08 time / iter: 36 ms total time: 0.32 seconds, of which derivs: 0.2 % back pass: 93.4% fwd pass: 5.4 % other: 1.0 % (graphics etc.) =========== end iLQG =========== 0.321236 seconds (1.53 M allocations: 215.778 MiB, 8.36% gc time) ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 51.9468 28 28 0.113 0.0 2 23.9225 9.97 9.97 0.0792 -0.2 3 13.9537 4.81 4.81 0.0768 -0.6 4 9.14011 3.36 3.36 0.12 -1.2 5 5.77522 1.82 1.82 0.179 -2.0 6 3.95448 0.392 0.392 0.176 -3.1 7 3.56248 0.0146 0.0146 0.0532 -4.3 8 3.54791 1.4e-05 1.4e-05 0.00193 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 3.547901 final grad: 3.164698e-06 final λ: 4.4841551e-08 time / iter: 35 ms total time: 0.31 seconds, of which derivs: 0.2 % back pass: 93.2% fwd pass: 5.6 % other: 1.0 % (graphics etc.) =========== end iLQG =========== 0.312148 seconds (1.53 M allocations: 215.778 MiB, 7.53% gc time) Running linear demo function for DifferentialDynamicProgramming.jl ---------- begin iLQG ---------- iteration cost reduction expected gradient log10(λ) η divergence 1 49.7813 21.6 21.6 0.103 0.0 2 28.1933 11.4 11.4 0.0872 -0.2 3 16.8088 6.46 6.46 0.0916 -0.6 4 10.3534 3.23 3.23 0.122 -1.2 5 7.12695 1.36 1.36 0.179 -2.0 6 5.76872 0.447 0.447 0.204 -3.1 7 5.32189 0.0283 0.0283 0.0701 -4.3 8 5.29357 3.01e-05 3.01e-05 0.0028 -5.7 SUCCESS: gradient norm < tol_grad iterations: 9 final cost: 5.293537 final grad: 4.11742e-06 final λ: 4.4841551e-08 time / iter: 43 ms total time: 0.39 seconds, of which derivs: 0.2 % back pass: 94.0% fwd pass: 4.8 % other: 1.1 % (graphics etc.) =========== end iLQG =========== 8.069306 seconds (2.72 M allocations: 278.873 MiB, 0.85% gc time, 95.14% compilation 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 29.5889 19.2 12.3 0.113 -1.00 0.00775 1.83 2 2.99165e+13 -2.99e+13 6.34e+20 4e+07 -0.26 2.98e+13 -3.97 3 3.32617e+10 -3.33e+10 2.08e+17 3.08e+06 -0.13 3.31e+10 -1.02 4 8.7565e+07 -8.76e+07 1.65e+14 1.72e+05 -0.06 8.65e+07 0.445 5 207390 -2.07e+05 1.46e+11 7.49e+03 -0.03 1.98e+05 1.17 6 573.941 -525 2.12e+08 356 -0.02 447 1.52 7 16.9098 31.9 1.26e+06 30.2 -0.02 3.29 1.69 8 78.6298 -29.8 2.03e+07 116 -0.03 42.6 1.61 9 211.701 -163 6.89e+07 208 -0.03 145 1.57 10 128.167 -79.4 3.79e+07 156 -0.03 79.5 1.59 iteration est. cost reduction expected gradient log10(η) divergence entropy 11 164.592 -116 5.13e+07 181 -0.03 108 1.58 SUCCESS: abs(KL-divergence) < kl_step iterations: 11 final cost: 164.5917 final grad: 180.6055 final λ: 9.3925245e-01 time / iter: 1390 ms total time: 15.29 seconds, of which derivs: 0.0 % back pass: 86.9% fwd pass: 4.6 % other: 8.6 % (graphics etc.) =========== end iLQG =========== Outer loop: Cost = 164.591749913851 ---------- begin iLQG ---------- iteration est. cost reduction expected gradient log10(η) divergence entropy 1 164.467 0.125 0.0625 0.000157 -1.00 6.29e-05 1.58 2 3.90436e+80 -3.9e+80 4.94e+85 1.23e+38 -0.26 3.92e+80 -3.71 3 4.73183e+51 -4.73e+51 6.65e+56 5.45e+24 -0.13 4.78e+51 -0.768 4 2.64324e+50 -2.64e+50 2.9e+54 4.66e+23 -0.06 2.73e+50 0.687 5 1.45599e+38 -1.46e+38 6.9e+41 4.78e+17 -0.03 1.98e+38 1.36 6 1.13143e+07 -1.13e+07 1.31e+11 685 -0.02 1.29e+08 1.56 7 164.457 0.135 0.0901 0.00137 -0.02 9.1e-05 1.58 8 164.633 -0.0412 5.63 0.0519 -0.03 0.00542 1.57 9 184.63 -20 2.28e+04 1.77 -0.03 22.7 1.57 10 5060.92 -4.9e+03 5.06e+07 25.9 -0.03 5.02e+04 1.57 iteration est. cost reduction expected gradient log10(η) divergence entropy 11 377.711 -213 9.93e+05 6.18 -0.03 987 1.57 12 225.865 -61.3 1.44e+05 3.23 -0.03 144 1.57 EXIT: η > ηmax ┌ Warning: KL divergence too high for some time steps when done └ @ DifferentialDynamicProgramming ~/.julia/packages/DifferentialDynamicProgramming/DG1NV/src/iLQGkl.jl:248 iterations: 12 final cost: 225.8655 final grad: 3.234732 final λ: 9.3653122e-01 time / iter: 66 ms total time: 0.79 seconds, of which derivs: 0.0 % back pass: 63.3% fwd pass: 29.8% other: 6.9 % (graphics etc.) =========== end iLQG =========== Outer loop: Cost = 225.86545778638333 ---------- begin iLQG ---------- iteration est. cost reduction expected gradient log10(η) divergence entropy 1 225.696 0.169 0.0845 0.00011 -1.00 8.5e-05 1.57 2 2.92229e+66 -2.92e+66 4.8e+71 1.26e+31 -0.26 2.94e+66 -3.71 3 7.09107e+51 -7.09e+51 8.98e+56 5.72e+24 -0.13 7.17e+51 -0.764 4 4.01442e+50 -4.01e+50 4.54e+54 5.21e+23 -0.06 4.15e+50 0.691 5 1.32891e+38 -1.33e+38 6.43e+41 3.89e+17 -0.03 1.81e+38 1.36 6 1.12996e+06 -1.13e+06 1.33e+10 206 -0.02 1.31e+07 1.56 7 225.683 0.182 0.123 0.000798 -0.02 0.000124 1.57 8 225.804 0.0615 0.784 0.0154 -0.03 0.000783 1.57 9 231.221 -5.36 1.06e+03 0.412 -0.03 1.06 1.57 10 890.303 -664 3.7e+06 6.88 -0.03 3.67e+03 1.57 iteration est. cost reduction expected gradient log10(η) divergence entropy 11 276.569 -50.7 5.95e+04 1.53 -0.03 59.2 1.57 12 395.411 -170 4.69e+05 3.17 -0.03 466 1.57 EXIT: η > ηmax ┌ Warning: KL divergence too high for some time steps when done └ @ DifferentialDynamicProgramming ~/.julia/packages/DifferentialDynamicProgramming/DG1NV/src/iLQGkl.jl:248 iterations: 12 final cost: 395.4114 final grad: 3.172956 final λ: 9.3435991e-01 time / iter: 57 ms total time: 0.69 seconds, of which derivs: 0.0 % back pass: 66.7% fwd pass: 31.3% other: 2.0 % (graphics etc.) =========== end iLQG =========== Outer loop: Cost = 395.411362409355 ---------- begin iLQG ---------- iteration est. cost reduction expected gradient log10(η) divergence entropy 1 395.128 0.284 0.142 0.000112 -1.00 0.000142 1.56 2 2.3793e+68 -2.38e+68 3.16e+73 3.76e+31 -0.26 2.4e+68 -3.71 3 8.96966e+51 -8.97e+51 1.07e+57 5.46e+24 -0.13 9.08e+51 -0.762 4 5.53071e+50 -5.53e+50 6.45e+54 5.61e+23 -0.06 5.72e+50 0.694 5 1.27857e+38 -1.28e+38 6.3e+41 3.28e+17 -0.03 1.74e+38 1.36 6 202951 -2.03e+05 2.39e+09 79.7 -0.02 2.36e+06 1.56 7 395.104 0.307 0.227 0.00117 -0.02 0.000227 1.56 8 395.026 0.385 3.99 0.0148 -0.03 0.00398 1.56 9 395.189 0.222 110 0.173 -0.03 0.11 1.56 10 632.225 -237 5.1e+05 2.53 -0.03 506 1.56 iteration est. cost reduction expected gradient log10(η) divergence entropy 11 414.099 -18.7 5.87e+03 0.559 -0.03 5.83 1.56 12 462.953 -67.5 5.69e+04 1.16 -0.03 56.5 1.56 EXIT: η > ηmax iterations: 12 final cost: 462.9535 final grad: 1.160847 final λ: 9.3327615e-01 time / iter: 60 ms total time: 0.72 seconds, of which derivs: 0.0 % back pass: 66.5% fwd pass: 31.5% other: 1.9 % (graphics etc.) =========== end iLQG =========== Outer loop: Cost = 462.9534611492545 ---------- begin iLQG ---------- iteration est. cost reduction expected gradient log10(η) divergence entropy 1 462.627 0.327 0.164 0.000115 -1.00 0.000164 1.56 2 7.0486e+75 -7.05e+75 1.19e+81 6.42e+35 -0.26 7.1e+75 -3.71 3 9.99818e+51 -1e+52 1.22e+57 6.06e+24 -0.13 1.01e+52 -0.761 4 6.91257e+50 -6.91e+50 8.29e+54 6.57e+23 -0.06 7.16e+50 0.695 5 1.27713e+38 -1.28e+38 6.37e+41 3.28e+17 -0.03 1.74e+38 1.36 6 62124.7 -6.17e+04 7.18e+08 43.1 -0.02 7.07e+05 1.56 7 462.6 0.353 0.266 0.0013 -0.02 0.000266 1.56 8 462.439 0.515 5.77 0.0156 -0.03 0.00576 1.56 9 460.221 2.73 170 0.126 -0.03 0.17 1.56 10 570.538 -108 1.28e+05 1.38 -0.03 127 1.56 iteration est. cost reduction expected gradient log10(η) divergence entropy 11 467.461 -4.51 1.26e+03 0.337 -0.03 1.25 1.56 12 490.493 -27.5 1.28e+04 0.644 -0.03 12.7 1.56 EXIT: η > ηmax iterations: 12 final cost: 490.4927 final grad: 0.6442073 final λ: 9.3327615e-01 time / iter: 89 ms total time: 1.07 seconds, of which derivs: 0.0 % back pass: 70.1% fwd pass: 28.5% other: 1.4 % (graphics etc.) =========== end iLQG =========== Outer loop: Cost = 490.49272984984395 38.811590 seconds (29.24 M allocations: 3.453 GiB, 3.82% gc time, 88.39% compilation time) Install package Plots.jl (and call using Plots) to plot results in the end of demo_linear Entering iLQG function ---------- begin iLQG ---------- Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. Cholesky failed at timestep 599. iteration cost reduction expected gradient log10(λ) η divergence 1 NO STEP 0 0 0 18.6 EXIT: λ > λmax ERROR: LoadError: Failure: no iterations completed, something is wrong. Try enabling the debug flag in DifferentialDynamicProgramming.jl for verbose printing. Stacktrace: [1] error(s::String) @ Base ./error.jl:44 [2] iLQG(f::DifferentialDynamicProgramming.var"#f#48"{DifferentialDynamicProgramming.var"#lin_dyn_f#45"{DifferentialDynamicProgramming.var"#dfsys#42"{Vector{Float64}, Float64, Float64, Float64, Float64}}}, costfun::DifferentialDynamicProgramming.var"#cost_quadratic#43"{Vector{Float64}, Diagonal{Float64, Vector{Float64}}, Float64}, df::DifferentialDynamicProgramming.var"#df#49"{DifferentialDynamicProgramming.var"#lin_dyn_df#46"{Diagonal{Float64, Vector{Float64}}, Float64, Array{Float64, 3}, Array{Float64, 3}, Array{Float64, 3}, Array{Float64, 3}, DifferentialDynamicProgramming.var"#dcost_quadratic#44"{Vector{Float64}, Diagonal{Float64, Vector{Float64}}, Float64}, Float64, Float64, Float64, Float64}}, x0::Vector{Float64}, u0::Matrix{Float64}; lims::Matrix{Float64}, α::Vector{Float64}, tol_fun::Float64, tol_grad::Float64, max_iter::Int64, λ::Float64, dλ::Float64, λfactor::Float64, λmax::Float64, λmin::Float64, regType::Int64, reduce_ratio_min::Int64, diff_fun::typeof(-), plot::Int64, verbosity::Int64, plot_fun::DifferentialDynamicProgramming.var"#iLQG##2#iLQG##3", cost::Vector{Any}, traj_prev::Int64) @ DifferentialDynamicProgramming ~/.julia/packages/DifferentialDynamicProgramming/DG1NV/src/iLQG.jl:333 [3] kwcall(::@NamedTuple{lims::Matrix{Float64}, regType::Int64, α::Vector{Float64}, λmax::Float64, verbosity::Int64, tol_fun::Float64, tol_grad::Float64, max_iter::Int64}, ::typeof(iLQG), f::Function, costfun::Function, df::Function, x0::Vector{Float64}, u0::Matrix{Float64}) @ DifferentialDynamicProgramming ~/.julia/packages/DifferentialDynamicProgramming/DG1NV/src/iLQG.jl:141 [4] demo_pendcart(; x0::Vector{Float64}, goal::Vector{Float64}, Q::Diagonal{Float64, Vector{Float64}}, R::Float64, lims::Matrix{Float64}, T::Int64, doplot::Bool) @ DifferentialDynamicProgramming ~/.julia/packages/DifferentialDynamicProgramming/DG1NV/src/system_pendcart.jl:197 [5] demo_pendcart() @ DifferentialDynamicProgramming ~/.julia/packages/DifferentialDynamicProgramming/DG1NV/src/system_pendcart.jl:42 [6] top-level scope @ ~/.julia/packages/DifferentialDynamicProgramming/DG1NV/test/runtests.jl:10 [7] include(mapexpr::Function, mod::Module, _path::String) @ Base ./Base.jl:310 [8] top-level scope @ none:6 [9] eval(m::Module, e::Any) @ Core ./boot.jl:489 [10] exec_options(opts::Base.JLOptions) @ Base ./client.jl:310 [11] _start() @ Base ./client.jl:577 in expression starting at /home/pkgeval/.julia/packages/DifferentialDynamicProgramming/DG1NV/test/runtests.jl:10 Testing failed after 168.54s ERROR: LoadError: Package DifferentialDynamicProgramming errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:2946 [3] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:2795 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:572 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:548 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:161 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [9] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:219 [12] include(mod::Module, _path::String) @ Base ./Base.jl:309 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [14] _start() @ Base ./client.jl:577 in expression starting at /PkgEval.jl/scripts/evaluate.jl:210 PkgEval failed after 213.65s: package tests unexpectedly errored