From 017788b9d657169efe48a0eab83cbb7ea568f8f5 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Tue, 28 Oct 2025 03:00:06 -0700 Subject: [PATCH] MuJoCo Warp documentation: Parallel Linesearch. PiperOrigin-RevId: 824937806 Change-Id: I95b416f7b0380099aa6ea4200a27acfc2b2c6bb7 --- doc/mjwarp/index.rst | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index 6cdf6320..a40c1fcf 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -231,3 +231,17 @@ It is possible to override the field shape and set the field values after graph Heterogeneous worlds, for example: per-world meshes or number of degrees of freedom, are not currently available. +Parallel Linesearch +=================== + +In addition to the constraint solver's iterative linesearch, MJWarp provides a parallel linesearch routine that +evaluates a set of step sizes in parallel and selects the best one. The step sizes are spaced logarithmically from +``Model.opt.ls_parallel_min_step`` to 1 and the number of step sizes to evaluate is set via ``Model.opt.ls_iterations``. + +To enable this routine set ``Model.opt.ls_parallel=True`` or add a custom numeric field to the XML + +.. code-block:: xml + + + +