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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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test/engine/engine_solver_test.cc
+3 -3
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@@ -241,15 +241,15 @@ TEST_F(SolverTest, SolversEquivalent) {
{
.newton = MjTol(1e-13, 1e-5),
.cg = MjTol(1e-13, 1e-5),
.pgs_pyramidal = MjTol(1e-12, 1e-5),
.pgs_elliptic = MjTol(1e-3, 1e-2),
.pgs_pyramidal = MjTol(1e-13, 1e-5),
.pgs_elliptic = MjTol(1e-3, 1e-3),
}},
{.path = kHumanoidPath,
.tolerances =
{
.newton = MjTol(1e-13, 1e-5),
.cg = MjTol(1e-12, 1e-5),
.pgs_pyramidal = MjTol(1e-5, 1e-5),
.pgs_pyramidal = MjTol(1e-12, 1e-5),
.pgs_elliptic = MjTol(1e-8, 1e-4),
}},
};