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Add options for controlling early termination criteria of CG/Newton linesearch.

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Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
This commit is contained in:
Google DeepMind
2023-09-06 12:02:11 -07:00
committed by Copybara-Service
parent 48d0bfde44
commit 040d3efce2
13 changed files with 61 additions and 19 deletions
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src/engine/engine_solver.c
+4 -7
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@@ -1093,9 +1093,6 @@ static int updateBracket(const mjModel* m, mjData* d, mjCGContext* ctx,
static mjtNum CGsearch(const mjModel* m, mjData* d, mjCGContext* ctx) {
mjCGPnt p0, p1, p2, pmid, p1next, p2next;
const int LSmaxiter = 50;
const mjtNum LStolscl = 0.01;
// clear results
ctx->LSiter = 0;
ctx->LSresult = 0;
@@ -1109,7 +1106,7 @@ static mjtNum CGsearch(const mjModel* m, mjData* d, mjCGContext* ctx) {
}
// compute scaled gradtol and slope scaling
mjtNum gtol = m->opt.tolerance * LStolscl * snorm * m->stat.meaninertia * mjMAX(1, m->nv);
mjtNum gtol = m->opt.tolerance * m->opt.ls_tolerance * snorm * m->stat.meaninertia * mjMAX(1, m->nv);
mjtNum slopescl = 1 / (snorm * m->stat.meaninertia * mjMAX(1, m->nv));
// compute Mv, Jv
@@ -1180,7 +1177,7 @@ static mjtNum CGsearch(const mjModel* m, mjData* d, mjCGContext* ctx) {
// one-sided search
int p2update = 0;
while (p1.deriv[0]*dir <= -gtol && ctx->LSiter < LSmaxiter) {
while (p1.deriv[0]*dir <= -gtol && ctx->LSiter < m->opt.ls_iterations) {
// save current
p2 = p1;
p2update = 1;
@@ -1197,7 +1194,7 @@ static mjtNum CGsearch(const mjModel* m, mjData* d, mjCGContext* ctx) {
}
// check for failure to bracket
if (ctx->LSiter >= LSmaxiter) {
if (ctx->LSiter >= m->opt.ls_iterations) {
ctx->LSresult = 3; // could not bracket
ctx->LSslope = mju_abs(p1.deriv[0])*slopescl;
return p1.alpha;
@@ -1216,7 +1213,7 @@ static mjtNum CGsearch(const mjModel* m, mjData* d, mjCGContext* ctx) {
CGeval(m, d, ctx, &p1next);
// bracketed search
while (ctx->LSiter < LSmaxiter) {
while (ctx->LSiter < m->opt.ls_iterations) {
// evaluate at midpoint
pmid.alpha = 0.5*(p1.alpha + p2.alpha);
CGeval(m, d, ctx, &pmid);