Skip to content

New CTParser version + fixes #69

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
ocots merged 3 commits into from
Apr 16, 2026
Merged

New CTParser version + fixes #69

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
8947c29
Fix workflow if conditions to run on push unconditionally
ocots Apr 16, 2026
b85af0f
Simplify initial guess in tutorial-mam by inlining helper functions
ocots Apr 16, 2026
462874b
Enable draft mode off, add initial guess visualization in tutorial-mam
ocots Apr 16, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion .github/workflows/CI.yml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ on:

jobs:
call:
if: contains(github.event.pull_request.labels.*.name, 'run ci')
if: github.event_name != 'pull_request' || contains(github.event.pull_request.labels.*.name, 'run ci')
uses: control-toolbox/CTActions/.github/workflows/ci.yml@main
with:
runs_on: '["ubuntu-latest"]'
Expand Down
2 changes: 1 addition & 1 deletion .github/workflows/Documentation.yml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,5 +10,5 @@ on:

jobs:
call:
if: contains(github.event.pull_request.labels.*.name, 'run documentation')
if: github.event_name != 'pull_request' || contains(github.event.pull_request.labels.*.name, 'run documentation')
uses: control-toolbox/CTActions/.github/workflows/documentation.yml@main
49 changes: 26 additions & 23 deletions docs/src/assets/Manifest.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,9 +102,9 @@ version = "0.4.0"

[[deps.ArrayInterface]]
deps = ["Adapt", "LinearAlgebra"]
git-tree-sha1 = "78b3a7a536b4b0a747a0f296ea77091ca0a9f9a3"
git-tree-sha1 = "54f895554d05c83e3dd59f6a396671dae8999573"
uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
version = "7.23.0"
version = "7.24.0"

[deps.ArrayInterface.extensions]
ArrayInterfaceAMDGPUExt = "AMDGPU"
Expand Down Expand Up @@ -259,9 +259,9 @@ version = "0.9.14"

[[deps.CTParser]]
deps = ["CTBase", "DocStringExtensions", "MLStyle", "OrderedCollections", "Parameters", "Unicode"]
git-tree-sha1 = "0a57111b2d95d6272bb76f4f6f7c4fee1e40ce82"
git-tree-sha1 = "67c193f4f1e5167123b917bbbdb26947757ed4b0"
uuid = "32681960-a1b1-40db-9bff-a1ca817385d1"
version = "0.8.13"
version = "0.8.14"

[[deps.CTSolvers]]
deps = ["ADNLPModels", "CTBase", "CTModels", "CommonSolve", "DocStringExtensions", "ExaModels", "KernelAbstractions", "NLPModels", "SolverCore"]
Expand Down Expand Up @@ -485,10 +485,10 @@ uuid = "85a47980-9c8c-11e8-2b9f-f7ca1fa99fb4"
version = "0.4.6"

[[deps.DiffEqBase]]
deps = ["ArrayInterface", "BracketingNonlinearSolve", "ConcreteStructs", "DocStringExtensions", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
git-tree-sha1 = "87e2ad6d4ae98505218e2f97cafcfa296dc97d37"
deps = ["ArrayInterface", "BracketingNonlinearSolve", "ConcreteStructs", "DocStringExtensions", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
git-tree-sha1 = "7fc71417fa27888829b800ca3c0a4d3c1d0d99f0"
uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
version = "6.216.0"
version = "6.217.0"

[deps.DiffEqBase.extensions]
DiffEqBaseCUDAExt = "CUDA"
Expand Down Expand Up @@ -809,9 +809,9 @@ version = "1.16.0"

[[deps.FiniteDiff]]
deps = ["ArrayInterface", "LinearAlgebra", "Setfield"]
git-tree-sha1 = "9340ca07ca27093ff68418b7558ca37b05f8aeb1"
git-tree-sha1 = "73e879af0e767bd6dfade7c5b09d7b05657a8284"
uuid = "6a86dc24-6348-571c-b903-95158fe2bd41"
version = "2.29.0"
version = "2.30.0"

[deps.FiniteDiff.extensions]
FiniteDiffBandedMatricesExt = "BandedMatrices"
Expand Down Expand Up @@ -1556,9 +1556,9 @@ version = "0.2.4"

[[deps.MultivariatePolynomials]]
deps = ["DataStructures", "LinearAlgebra", "MutableArithmetics", "StarAlgebras"]
git-tree-sha1 = "b45f1ed8448ea20885cb4c5029c2a462fe2682bf"
git-tree-sha1 = "9436679244f099fe5cd8a8053f40696be4e3bdd8"
uuid = "102ac46a-7ee4-5c85-9060-abc95bfdeaa3"
version = "0.5.17"
version = "0.5.18"
weakdeps = ["ChainRulesCore"]

[deps.MultivariatePolynomials.extensions]
Expand Down Expand Up @@ -1776,10 +1776,10 @@ uuid = "6ad6398a-0878-4a85-9266-38940aa047c8"
version = "1.26.0"

[[deps.OrdinaryDiffEqCore]]
deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "ConcreteStructs", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "Random", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
git-tree-sha1 = "e81202ab680b4649ea2cb63560b9e57833540cfa"
deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "ConcreteStructs", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "Random", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Static", "SymbolicIndexingInterface", "TruncatedStacktraces"]
git-tree-sha1 = "31e7d6c8add3a7f449d492fc7d2437cfbe9d6a7a"
uuid = "bbf590c4-e513-4bbe-9b18-05decba2e5d8"
version = "3.31.0"
version = "3.32.0"

[deps.OrdinaryDiffEqCore.extensions]
OrdinaryDiffEqCoreMooncakeExt = "Mooncake"
Expand Down Expand Up @@ -1933,9 +1933,9 @@ version = "1.14.0"

[[deps.OrdinaryDiffEqStabilizedRK]]
deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "SciMLBase", "StaticArraysCore"]
git-tree-sha1 = "bb33a312858b1e6663099f231323a78b7bb00eb3"
git-tree-sha1 = "764e11fb6a26ee8f2d2d10778d531fd708f35d28"
uuid = "358294b1-0aab-51c3-aafe-ad5ab194a2ad"
version = "1.11.0"
version = "1.11.1"

[[deps.OrdinaryDiffEqSymplecticRK]]
deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "RecursiveArrayTools", "Reexport", "SciMLBase"]
Expand Down Expand Up @@ -2430,22 +2430,25 @@ version = "1.2.1"

[[deps.SparseMatrixColorings]]
deps = ["ADTypes", "DocStringExtensions", "LinearAlgebra", "PrecompileTools", "Random", "SparseArrays"]
git-tree-sha1 = "1c1be8c6fdfaf9b6c9e156c509e672953b8e6af7"
git-tree-sha1 = "f63d76c7b7c329cf11badd564fd8ba877b09c3fe"
uuid = "0a514795-09f3-496d-8182-132a7b665d35"
version = "0.4.26"
version = "0.4.27"

[deps.SparseMatrixColorings.extensions]
SparseMatrixColoringsCUDAExt = "CUDA"
SparseMatrixColoringsCUDAExt = ["CUDA", "cuSPARSE"]
SparseMatrixColoringsCliqueTreesExt = "CliqueTrees"
SparseMatrixColoringsColorsExt = "Colors"
SparseMatrixColoringsGPUArraysExt = "GPUArrays"
SparseMatrixColoringsJuMPExt = ["JuMP", "MathOptInterface"]

[deps.SparseMatrixColorings.weakdeps]
CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba"
CliqueTrees = "60701a23-6482-424a-84db-faee86b9b1f8"
Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
GPUArrays = "0c68f7d7-f131-5f86-a1c3-88cf8149b2d7"
JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
cuSPARSE = "b26da814-b3bc-49ef-b0ee-c816305aa060"

[[deps.SpecialFunctions]]
deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
Expand Down Expand Up @@ -2592,9 +2595,9 @@ version = "1.1.0"

[[deps.SymbolicUtils]]
deps = ["AbstractTrees", "ArrayInterface", "Combinatorics", "ConstructionBase", "DataStructures", "Dictionaries", "DocStringExtensions", "DynamicPolynomials", "EnumX", "ExproniconLite", "Graphs", "LinearAlgebra", "MacroTools", "Moshi", "MultivariatePolynomials", "MutableArithmetics", "NaNMath", "PrecompileTools", "ReadOnlyArrays", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "TaskLocalValues", "TermInterface", "WeakCacheSets"]
git-tree-sha1 = "552eaeac659f5802d45c4d936272a712ca13a969"
git-tree-sha1 = "98c23082cba20c6ae17e920600c89e4f6491e618"
uuid = "d1185830-fcd6-423d-90d6-eec64667417b"
version = "4.24.1"
version = "4.24.2"

[deps.SymbolicUtils.extensions]
SymbolicUtilsChainRulesCoreExt = "ChainRulesCore"
Expand Down Expand Up @@ -2958,9 +2961,9 @@ version = "0.61.1+0"

[[deps.libaom_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl"]
git-tree-sha1 = "371cc681c00a3ccc3fbc5c0fb91f58ba9bec1ecf"
git-tree-sha1 = "850b06095ee71f0135d644ffd8a52850699581ed"
uuid = "a4ae2306-e953-59d6-aa16-d00cac43593b"
version = "3.13.1+0"
version = "3.13.3+0"

[[deps.libass_jll]]
deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Zlib_jll"]
Expand Down
20 changes: 8 additions & 12 deletions docs/src/tutorial-mam.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ using Plots, Printf
We aim to find the most probable transition path between two stable states of a stochastic dynamical system. For a system with deterministic dynamics $f(x)$ and small noise, the transition path minimizes the action functional:

```math
S[x(\cdot), u(\cdot)] = \int_0^T \|u(t) - f(x(t))\|^2 \, dt
S[x(\cdot), u(\cdot)] = \int_0^T \|u(t) - f(x(t))\|^2 \, \mathrm{d}t
```

subject to the path dynamics:
Expand Down Expand Up @@ -72,19 +72,15 @@ We provide an initial guess for the path using a simple interpolation with the `
# Time horizon
T = 50

# Helper functions for initial state guess
L(t) = -(1 - t/T) + t/T # Linear interpolation from -1 to 1
P(t) = 0.3*(-L(t)^2 + 1) # Parabolic arc (approximates saddle crossing)

init = @init ocp(T) begin
# Linear interpolation for x₁
x₁(t) := L(t)
# Parabolic guess for x₂
x₂(t) := P(t)
# Control from vector field
u(t) := f(L(t), P(t))
x₁(t) := -(1 - t/T) + t/T # Linear interpolation from -1 to 1
x₂(t) := 0.3*(-x₁(t)^2 + 1) # Parabolic arc (approximates saddle crossing)
u(t) := f(x₁(t), x₂(t)) # Control from vector field
end
nothing # hide

# Visualize the initial guess (solve without optimization, max_iter=0)
sol_init = solve(ocp(T); init=init, grid_size=1000, max_iter=0)
plot(sol_init)
```

!!! note "Initial guess strategy"
Expand Down
Loading