Trajopt Profiling - #47

Draft

alberthli wants to merge 44 commits into

mainfrom

trajopt-profile

Commits on Dec 2, 2023

Commits on Dec 3, 2023

add some informative comments to base.py
alberthli
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f5610fc
[maybe] added cost function to base API
alberthli
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17642f6
shooting method APIs, no cost function implemented yet
alberthli
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4e1ae77
define generic CostFunction API
alberthli
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8c9cd6b
expose a CostFunction field of shooting methods
alberthli
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0d175f0
add specific implementation of (non-sparse) quadratic CostFunction with static goal and cost matrices
alberthli
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987e334

Commits on Dec 4, 2023

fixed missing field in docstrings
alberthli
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2b268f8
fixed missing field in docstrings
alberthli
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13efcfd
pass non-kwarg functions to vmap since vmap breaks in that case
alberthli
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b6ea473
added preliminary dead simple predictive sampling example
alberthli
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6bf291d
minor, get from property
alberthli
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2cfdbfd
fixed some params + simplify sampling of us to one line
alberthli
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dc5d247
[DIRTY] commit that contains commented out code for pre-allocating data in case we need it later
alberthli
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ff6dbcc
revert to allocating data at shooting time
alberthli
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9f12d74
[DIRTY] some additions to the example script for profiling help
alberthli
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3fda8ba

Commits on Dec 5, 2023

added dependencies for profiling
alberthli
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20687cb
README instructions updated to include profiling guidelines
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441c688
moved timing script to benchmarks
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2e6c649
remove accidentally committed pngs
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288cfb4
delete some comments
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68fdbbd
remove some dependencies to upgrade to cuda 12
alberthli
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8f32b49
run code checks when ready for review
alberthli
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94409c4
pray that tensorflow 2.13 passes tests
alberthli
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b51d2de
quick gutcheck to see what is causing test failure
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6a39ae2
sanity check 2: whether pinning to an older version causes install errors
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f164fe5
typo
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3d121ca
refactor API to take xs instead of qs and vs
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0f507e3
tests for cost function and its derivatives
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b2d8296
added smoke test for vanilla predictive sampler
alberthli
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0e24057
remove the example since it's implemented as a benchmark in an upstream PR
alberthli
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adf4243
minor docstring edit
alberthli
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773be6a
Merge branch 'trajopt-api' of github.com:Caltech-AMBER/ambersim into trajopt-profile
alberthli
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039a4f2
ensure predictive sampler also accounts for cost of guess vs. samples
alberthli
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544f964
add sanity check for predictive sampling
alberthli
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4e22073
Merge branch 'trajopt-api' of github.com:Caltech-AMBER/ambersim into trajopt-profile
alberthli
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a4da8e8
added fixture to tests
alberthli
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0c49505
fix stray parenthetical
alberthli
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90ea8f4
Merge branch 'trajopt-api' of github.com:Caltech-AMBER/ambersim into trajopt-profile
alberthli
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e2cc740
update README + pull upstream changes
alberthli
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bd3add2
Merge branch 'main' of github.com:Caltech-AMBER/ambersim into trajopt-profile
alberthli
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1236f5f