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Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)

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Benchmark on `2humanoid100.xml` (nefc=1785, nv=654):

```
Convergence at fixed iteration count (mean relative error vs Newton):
  20 iters: 2.98e-03 vs 1.54e-02 (5.2x better)
  40 iters: 8.14e-05 vs 2.60e-03 (32x better)
  80 iters: 1.17e-07 vs 1.77e-04 (1500x better)

Pipeline throughput (tolerance=1e-8, islands disabled):
  Nesterov: 243 steps/s, 46 iters/step
  Baseline: 151 steps/s, 95 iters/step
  Solver speedup: 1.8x, overall step speedup: 1.6x

Pipeline throughput (tolerance=1e-8, islands enabled):
  Nesterov: 306 steps/s, 442 iters/step
  Baseline: 175 steps/s, 966 iters/step
  Solver speedup: 2.1x, overall step speedup: 1.7x
```

PiperOrigin-RevId: 936610759
Change-Id: I2978e8bd545971d9151005623967e5cf0ad125cc
This commit is contained in:
Yuval Tassa
2026-06-23 05:51:42 -07:00
committed by Copybara-Service
parent 5cef2472d5
commit c499f7f2b0
8 changed files with 798 additions and 15 deletions
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src/engine/engine_util_misc.h
+2 -2
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@@ -281,13 +281,13 @@ MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
// convert from mjtNum to double
MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
// gather mjtNums
// gather mjtNums: res[i] = vec[ind[i]], or copy if ind is NULL
MJAPI void mju_gather(mjtNum* res, const mjtNum* vec, const int* ind, int n);
// gather mjtNums, set to 0 at negative indices
MJAPI void mju_gatherMasked(mjtNum* res, const mjtNum* vec, const int* ind, int n);
// scatter mjtNums
// scatter mjtNums: res[ind[i]] = vec[i], or copy if ind is NULL
MJAPI void mju_scatter(mjtNum* res, const mjtNum* vec, const int* ind, int n);
// gather integers