Rejigged solver statistics in preparation for islanding.
- See public description below. - Stopped incrementing the iteration count in saveStats(). - `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB. BEGIN_PUBLIC Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used. - The new constant `mjNISLAND` is set to 20. - `mjNSOLVER` is reduced from 1000 to 200. - Added `mjData.solver_nisland`, the number of islands for which the solver ran. - `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`. END_PUBLIC PiperOrigin-RevId: 565030093 Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
8faf47dd16
commit
86d8b912f4
+115
-53
@@ -176,6 +176,10 @@ const char help_title[] =
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//-------------------------------- profiler, sensor, info, watch -----------------------------------
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// number of lines in the Constraint ("Counts") and Cost ("Convergence") figures
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static constexpr int kConstraintNum = 5;
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static constexpr int kCostNum = 3;
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// init profiler figures
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void InitializeProfiler(mj::Simulate* sim) {
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// set figures to default
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@@ -212,6 +216,20 @@ void InitializeProfiler(mj::Simulate* sim) {
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sim->figsize.figurergba[3] = 0.5f;
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sim->figtimer.figurergba[3] = 0.5f;
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// repeat line colors for constraint and cost figures
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mjvFigure* fig = &sim->figcost;
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for (int i=kCostNum; i<mjMAXLINE; i++) {
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fig->linergb[i][0] = fig->linergb[i - kCostNum][0];
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fig->linergb[i][1] = fig->linergb[i - kCostNum][1];
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fig->linergb[i][2] = fig->linergb[i - kCostNum][2];
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}
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fig = &sim->figconstraint;
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for (int i=kConstraintNum; i<mjMAXLINE; i++) {
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fig->linergb[i][0] = fig->linergb[i - kConstraintNum][0];
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fig->linergb[i][1] = fig->linergb[i - kConstraintNum][1];
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fig->linergb[i][2] = fig->linergb[i - kConstraintNum][2];
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}
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// legends
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mju::strcpy_arr(sim->figconstraint.linename[0], "total");
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mju::strcpy_arr(sim->figconstraint.linename[1], "active");
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@@ -272,54 +290,76 @@ void InitializeProfiler(mj::Simulate* sim) {
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// update profiler figures
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void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
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// update constraint figure
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sim->figconstraint.linepnt[0] = mjMIN(mjMIN(d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
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for (int i=1; i<5; i++) {
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sim->figconstraint.linepnt[i] = sim->figconstraint.linepnt[0];
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}
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if (m->opt.solver==mjSOL_PGS) {
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sim->figconstraint.linepnt[3] = 0;
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sim->figconstraint.linepnt[4] = 0;
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}
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if (m->opt.solver==mjSOL_CG) {
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sim->figconstraint.linepnt[4] = 0;
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}
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for (int i=0; i<sim->figconstraint.linepnt[0]; i++) {
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// x
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sim->figconstraint.linedata[0][2*i] = i;
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sim->figconstraint.linedata[1][2*i] = i;
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sim->figconstraint.linedata[2][2*i] = i;
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sim->figconstraint.linedata[3][2*i] = i;
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sim->figconstraint.linedata[4][2*i] = i;
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// reset lines in Constraint and Cost figures
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memset(sim->figconstraint.linepnt, 0, mjMAXLINE*sizeof(int));
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memset(sim->figcost.linepnt, 0, mjMAXLINE*sizeof(int));
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// y
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sim->figconstraint.linedata[0][2*i+1] = d->nefc;
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sim->figconstraint.linedata[1][2*i+1] = d->solver[i].nactive;
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sim->figconstraint.linedata[2][2*i+1] = d->solver[i].nchange;
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sim->figconstraint.linedata[3][2*i+1] = d->solver[i].neval;
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sim->figconstraint.linedata[4][2*i+1] = d->solver[i].nupdate;
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}
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// number of islands that have diagnostics
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int nisland = mjMIN(d->solver_nisland, mjNISLAND);
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// update cost figure
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sim->figcost.linepnt[0] = mjMIN(mjMIN(d->solver_iter, mjNSOLVER), mjMAXLINEPNT);
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for (int i=1; i<3; i++) {
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sim->figcost.linepnt[i] = sim->figcost.linepnt[0];
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}
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if (m->opt.solver==mjSOL_PGS) {
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sim->figcost.linepnt[1] = 0;
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sim->figcost.linepnt[2] = 0;
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}
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// iterate over islands
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for (int k=0; k < nisland; k++) {
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// ==== update Constraint ("Counts") figure
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for (int i=0; i<sim->figcost.linepnt[0]; i++) {
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// x
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sim->figcost.linedata[0][2*i] = i;
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sim->figcost.linedata[1][2*i] = i;
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sim->figcost.linedata[2][2*i] = i;
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// number of points to plot, starting line
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int npoints = mjMIN(mjMIN(d->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
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int start = kConstraintNum * k;
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// y
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sim->figcost.linedata[0][2*i+1] = mju_log10(mju_max(mjMINVAL, d->solver[i].improvement));
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sim->figcost.linedata[1][2*i+1] = mju_log10(mju_max(mjMINVAL, d->solver[i].gradient));
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sim->figcost.linedata[2][2*i+1] = mju_log10(mju_max(mjMINVAL, d->solver[i].lineslope));
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sim->figconstraint.linepnt[start + 0] = npoints;
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for (int i=1; i < kConstraintNum; i++) {
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sim->figconstraint.linepnt[start + i] = npoints;
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}
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if (m->opt.solver == mjSOL_PGS) {
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sim->figconstraint.linepnt[start + 3] = 0;
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sim->figconstraint.linepnt[start + 4] = 0;
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}
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if (m->opt.solver == mjSOL_CG) {
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sim->figconstraint.linepnt[start + 4] = 0;
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}
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for (int i=0; i<npoints; i++) {
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// x
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sim->figconstraint.linedata[start + 0][2*i] = i;
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sim->figconstraint.linedata[start + 1][2*i] = i;
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sim->figconstraint.linedata[start + 2][2*i] = i;
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sim->figconstraint.linedata[start + 3][2*i] = i;
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sim->figconstraint.linedata[start + 4][2*i] = i;
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// y
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int nefc = nisland == 1 ? d->nefc : d->island_efcnum[k];
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sim->figconstraint.linedata[start + 0][2*i+1] = nefc;
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const mjSolverStat* stat = d->solver + k*mjNSOLVER + i;
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sim->figconstraint.linedata[start + 1][2*i+1] = stat->nactive;
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sim->figconstraint.linedata[start + 2][2*i+1] = stat->nchange;
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sim->figconstraint.linedata[start + 3][2*i+1] = stat->neval;
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sim->figconstraint.linedata[start + 4][2*i+1] = stat->nupdate;
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}
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// update cost figure
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start = kCostNum * k;
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sim->figcost.linepnt[start + 0] = npoints;
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for (int i=1; i<kCostNum; i++) {
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sim->figcost.linepnt[start + i] = npoints;
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}
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if (m->opt.solver==mjSOL_PGS) {
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sim->figcost.linepnt[start + 1] = 0;
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sim->figcost.linepnt[start + 2] = 0;
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}
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for (int i=0; i<sim->figcost.linepnt[0]; i++) {
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// x
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sim->figcost.linedata[start + 0][2*i] = i;
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sim->figcost.linedata[start + 1][2*i] = i;
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sim->figcost.linedata[start + 2][2*i] = i;
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// y
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const mjSolverStat* stat = d->solver + k*mjNSOLVER + i;
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sim->figcost.linedata[start + 0][2*i + 1] =
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mju_log10(mju_max(mjMINVAL, stat->improvement));
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sim->figcost.linedata[start + 1][2*i + 1] =
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mju_log10(mju_max(mjMINVAL, stat->gradient));
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sim->figcost.linedata[start + 2][2*i + 1] =
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mju_log10(mju_max(mjMINVAL, stat->lineslope));
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}
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}
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// get timers: total, collision, prepare, solve, other
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@@ -355,14 +395,22 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
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}
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}
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// get total number of iterations and nonzeros
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mjtNum sqrt_nnz = 0;
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int solver_niter = 0;
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for (int island=0; island < nisland; island++) {
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sqrt_nnz += mju_sqrt(d->solver_nnz[island]);
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solver_niter += d->solver_niter[island];
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}
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// get sizes: nv, nbody, nefc, sqrt(nnz), ncont, iter
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float sdata[6] = {
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static_cast<float>(m->nv),
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static_cast<float>(m->nbody),
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static_cast<float>(d->nefc),
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static_cast<float>(mju_sqrt(d->solver_nnz)),
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static_cast<float>(sqrt_nnz),
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static_cast<float>(d->ncon),
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static_cast<float>(d->solver_iter)
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static_cast<float>(solver_niter)
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};
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// update figsize
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@@ -497,14 +545,22 @@ void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
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char (&content)[mj::Simulate::kMaxFilenameLength]) {
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char tmp[20];
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// compute solver error
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// number of islands with statistics
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int nisland = mjMIN(d->solver_nisland, mjNISLAND);
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// compute solver error (maximum over islands)
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mjtNum solerr = 0;
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if (d->solver_iter) {
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int ind = mjMIN(d->solver_iter-1, mjNSOLVER-1);
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solerr = mju_min(d->solver[ind].improvement, d->solver[ind].gradient);
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if (solerr==0) {
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solerr = mju_max(d->solver[ind].improvement, d->solver[ind].gradient);
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for (int i=0; i < nisland; i++) {
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mjtNum solerr_i = 0;
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if (d->solver_niter[i]) {
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int ind = mjMIN(d->solver_niter[i], mjNSOLVER) - 1;
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const mjSolverStat* stat = d->solver + i*mjNSOLVER + ind;
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solerr_i = mju_min(stat->improvement, stat->gradient);
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if (solerr_i==0) {
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solerr_i = mju_max(stat->improvement, stat->gradient);
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}
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}
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solerr = mju_max(solerr, solerr_i);
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}
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solerr = mju_log10(mju_max(mjMINVAL, solerr));
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@@ -516,6 +572,12 @@ void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
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mju::sprintf_arr(fps, "%.0f ", sim->fps_);
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}
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// total iterations of all islands with statistics
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int solver_niter = 0;
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for (int i=0; i < nisland; i++) {
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solver_niter += d->solver_niter[i];
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}
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// prepare info text
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mju::strcpy_arr(title, "Time\nSize\nCPU\nSolver \nFPS\nMemory");
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mju::sprintf_arr(content,
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@@ -525,7 +587,7 @@ void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
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sim->run ?
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d->timer[mjTIMER_STEP].duration / mjMAX(1, d->timer[mjTIMER_STEP].number) :
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d->timer[mjTIMER_FORWARD].duration / mjMAX(1, d->timer[mjTIMER_FORWARD].number),
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solerr, d->solver_iter,
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solerr, solver_niter,
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fps,
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d->maxuse_arena/(double)(d->narena),
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mju_writeNumBytes(d->narena));
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