Package evaluation of DifferentialDynamicProgramming on Julia 1.11.4 (a71dd056e0*) started at 2025-04-08T09:29:28.567 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 8.55s ################################################################################ # Installation # Installing DifferentialDynamicProgramming... Resolving package versions... Updating `~/.julia/environments/v1.11/Project.toml` [9cd584b6] + DifferentialDynamicProgramming v0.4.0 Updating `~/.julia/environments/v1.11/Manifest.toml` [34da2185] + Compat v4.16.0 [864edb3b] + DataStructures v0.18.22 [9cd584b6] + DifferentialDynamicProgramming v0.4.0 [5e7a79f3] + LinearTimeVaryingModelsBase v0.2.1 [bac558e1] + OrderedCollections v1.8.0 [d96e819e] + Parameters v0.12.3 ⌅ [aea7be01] + PrecompileTools v1.2.1 [21216c6a] + Preferences v1.4.3 [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 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.11.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [de0858da] + Printf v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization 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 v1.1.1+0 [4536629a] + OpenBLAS_jll v0.3.27+1 [8e850b90] + libblastrampoline_jll v5.11.0+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 To see why use `status --outdated -m` Installation completed after 1.81s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 19.15s ################################################################################ # Testing # Testing DifferentialDynamicProgramming Status `/tmp/jl_b44Jm0/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 v1.11.0 [de0858da] Printf v1.11.0 [9a3f8284] Random v1.11.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_b44Jm0/Manifest.toml` [34da2185] Compat v4.16.0 [864edb3b] DataStructures v0.18.22 [9cd584b6] DifferentialDynamicProgramming v0.4.0 [5e7a79f3] LinearTimeVaryingModelsBase v0.2.1 [bac558e1] OrderedCollections v1.8.0 [d96e819e] Parameters v0.12.3 ⌅ [aea7be01] PrecompileTools v1.2.1 [21216c6a] Preferences v1.4.3 [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 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.11.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [de0858da] Printf v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization 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 v1.1.1+0 [4536629a] OpenBLAS_jll v0.3.27+1 [8e850b90] libblastrampoline_jll v5.11.0+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: 682 ms total time: 6.14 seconds, of which derivs: 0.0 % back pass: 22.0% fwd pass: 0.8 % other: 77.2% (graphics etc.) =========== end iLQG =========== 53.967042 seconds (14.43 M allocations: 889.301 MiB, 0.94% gc time, 99.41% 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: 35 ms total time: 0.32 seconds, of which derivs: 0.2 % back pass: 91.5% fwd pass: 7.0 % other: 1.3 % (graphics etc.) =========== end iLQG =========== 0.318629 seconds (1.37 M allocations: 211.850 MiB, 11.70% 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: 57 ms total time: 0.51 seconds, of which derivs: 0.1 % back pass: 95.2% fwd pass: 4.0 % other: 0.7 % (graphics etc.) =========== end iLQG =========== 0.516364 seconds (1.37 M allocations: 211.850 MiB, 42.24% 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: 32 ms total time: 0.29 seconds, of which derivs: 0.2 % back pass: 92.0% fwd pass: 6.8 % other: 1.0 % (graphics etc.) =========== end iLQG =========== 0.295385 seconds (1.37 M allocations: 211.850 MiB, 8.25% 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: 33 ms total time: 0.29 seconds, of which derivs: 0.2 % back pass: 91.8% fwd pass: 7.1 % other: 0.9 % (graphics etc.) =========== end iLQG =========== 0.295487 seconds (1.37 M allocations: 211.850 MiB, 9.34% 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: 33 ms total time: 0.30 seconds, of which derivs: 0.2 % back pass: 92.6% fwd pass: 6.3 % other: 0.9 % (graphics etc.) =========== end iLQG =========== 0.301854 seconds (1.37 M allocations: 211.850 MiB, 8.87% 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: 58 ms total time: 0.53 seconds, of which derivs: 0.1 % back pass: 95.3% fwd pass: 4.1 % other: 0.5 % (graphics etc.) =========== end iLQG =========== 0.526554 seconds (1.37 M allocations: 211.850 MiB, 37.66% 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: 35 ms total time: 0.31 seconds, of which derivs: 0.2 % back pass: 92.5% fwd pass: 6.4 % other: 0.8 % (graphics etc.) =========== end iLQG =========== 0.314834 seconds (1.37 M allocations: 211.850 MiB, 6.71% 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: 32 ms total time: 0.28 seconds, of which derivs: 0.2 % back pass: 91.9% fwd pass: 6.8 % other: 1.0 % (graphics etc.) =========== end iLQG =========== 0.285286 seconds (1.37 M allocations: 211.850 MiB, 6.45% 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: 33 ms total time: 0.29 seconds, of which derivs: 0.2 % back pass: 91.5% fwd pass: 7.3 % other: 1.0 % (graphics etc.) =========== end iLQG =========== 0.296140 seconds (1.37 M allocations: 211.850 MiB, 8.74% 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: 35 ms total time: 0.31 seconds, of which derivs: 0.2 % back pass: 92.4% fwd pass: 6.3 % other: 1.2 % (graphics etc.) =========== end iLQG =========== 11.493880 seconds (2.12 M allocations: 249.962 MiB, 0.38% gc time, 97.25% 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: 2141 ms total time: 23.56 seconds, of which derivs: 0.0 % back pass: 85.6% fwd pass: 5.5 % other: 9.0 % (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: 89 ms total time: 1.07 seconds, of which derivs: 0.0 % back pass: 65.4% fwd pass: 30.4% other: 4.2 % (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: 64 ms total time: 0.76 seconds, of which derivs: 0.0 % back pass: 65.4% fwd pass: 32.7% other: 1.9 % (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: 64 ms total time: 0.77 seconds, of which derivs: 0.0 % back pass: 64.8% fwd pass: 33.3% 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: 91 ms total time: 1.09 seconds, of which derivs: 0.0 % back pass: 72.0% fwd pass: 26.7% other: 1.3 % (graphics etc.) =========== end iLQG =========== Outer loop: Cost = 490.49272984984395 58.378788 seconds (29.80 M allocations: 3.491 GiB, 1.83% gc time, 92.35% compilation 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 -1.21e-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 -1.93e-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 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: 1063 ms total time: 56.33 seconds, of which derivs: 4.7 % back pass: 91.8% fwd pass: 1.3 % other: 2.2 % (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: 67857.696 RESULT: Gradient norm smaller than tolerance. iterations 16 gradient 2.62633e-12 final value -26.2069 factorizations 15 2.050935 seconds (521.59 k allocations: 109.206 MiB, 1.13% gc time, 92.35% compilation time) Testing DifferentialDynamicProgramming tests passed Testing completed after 292.2s PkgEval succeeded after 328.07s