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Custom opt improvements #63

Merged
merged 16 commits into from
Aug 11, 2019
Merged

Custom opt improvements #63

merged 16 commits into from
Aug 11, 2019

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avikde
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@avikde avikde commented Aug 9, 2019 •
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  • use symm
  • quadratic form of objective
  • analytical gradient of J
  • julia optimizations
  • use AL

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avikde commented Aug 9, 2019

gvalues: 20us

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avikde commented Aug 10, 2019

Constraint violations (no AL)

opt = cu.OptOptions(true, 0.1, 1, cu.SYMMETRIC, 1e-8, false)
cu.csAlternateSolve(m, opt, traj0, params0, 1; μst=[1e6, 1e3], Ninnert=10, μsp=[1e-2,1e-2], Ninnerp=2)

image

AL true

image

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avikde commented Aug 11, 2019

Overall the results are not good. Need to get back to this

@avikde avikde merged commit 18c9b60 into master Aug 11, 2019
@avikde avikde deleted the customopt-improve branch August 11, 2019 23:19
@avikde avikde mentioned this pull request Aug 11, 2019
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