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Caltech-AMBER / ambersim Public

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Trajopt Profiling#47

Draft

alberthli wants to merge 44 commits intomainCaltech-AMBER/ambersim:mainfrom

trajopt-profileCaltech-AMBER/ambersim:trajopt-profileCopy head branch name to clipboard

Conversation Commits44 (44)Checks Files changed

Draft

Trajopt Profiling#47
alberthli wants to merge 44 commits intomainfrom
trajopt-profile

Commits

Commits on Dec 2, 2023

extremely generic API for trajectory optimization
alberthli
committed
fix spacing
alberthli
committed
remove unnecessary __init__ method (brainfart)
alberthli
committed
some additional massaging for best abstraction + useless scaffolding for shooting methods
alberthli
committed

Commits on Dec 3, 2023

add some informative comments to base.py
alberthli
committed
[maybe] added cost function to base API
alberthli
committed
shooting method APIs, no cost function implemented yet
alberthli
committed
define generic CostFunction API
alberthli
committed
expose a CostFunction field of shooting methods
alberthli
committed
add specific implementation of (non-sparse) quadratic CostFunction with static goal and cost matrices
alberthli
committed

Commits on Dec 4, 2023

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

Commits on Dec 5, 2023

added dependencies for profiling
alberthli
committed
README instructions updated to include profiling guidelines
alberthli
committed
moved timing script to benchmarks
alberthli
committed
remove accidentally committed pngs
alberthli
committed
delete some comments
alberthli
committed
remove some dependencies to upgrade to cuda 12
alberthli
committed
run code checks when ready for review
alberthli
committed
pray that tensorflow 2.13 passes tests
alberthli
committed
quick gutcheck to see what is causing test failure
alberthli
committed
sanity check 2: whether pinning to an older version causes install errors
alberthli
committed
typo
alberthli
committed
refactor API to take xs instead of qs and vs
alberthli
committed
tests for cost function and its derivatives
alberthli
committed
added smoke test for vanilla predictive sampler
alberthli
committed
remove the example since it's implemented as a benchmark in an upstream PR
alberthli
committed
minor docstring edit
alberthli
committed
Merge branch 'trajopt-api' of github.com:Caltech-AMBER/ambersim into trajopt-profile
alberthli
committed
ensure predictive sampler also accounts for cost of guess vs. samples
alberthli
committed
add sanity check for predictive sampling
alberthli
committed
Merge branch 'trajopt-api' of github.com:Caltech-AMBER/ambersim into trajopt-profile
alberthli
committed
added fixture to tests
alberthli
committed
fix stray parenthetical
alberthli
committed
Merge branch 'trajopt-api' of github.com:Caltech-AMBER/ambersim into trajopt-profile
alberthli
committed
update README + pull upstream changes
alberthli
committed
Merge branch 'main' of github.com:Caltech-AMBER/ambersim into trajopt-profile
alberthli
committed

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