Commit Graph

4 Commits

Author SHA1 Message Date
Google DeepMind 71cfcc5432 Use assertIn instead of assertContainsSubsequence for substring checks.
A contained subsequence must not necessarily be continuous, so the check only
checked if the individual letters were appearing in order within the message,
possibly interspersed with other characters.

PiperOrigin-RevId: 690977874
Change-Id: I36bd5a0105b979a9b0d6d04ca5239245d4f8d041
2024-10-29 05:20:52 -07:00
Yuval Tassa 34e537e557 Updates to minimize.least_squares. Fixes #1585
- Residual callable is vectorized for easy multithreading by the user. Internally all vectors are now explicitly column vectors.
- Removed central findiff option, it wasn't applicable at the bounds anyway and just complicated the code.
- Added optional user-provided norm function for non-quadratic (robust) norms.
- Added an iter_callback callable for user convenience.
- Added option to internally check user-provided Jacobian and norm against finite differences.
- Updated the notebook accordingly.

PiperOrigin-RevId: 631205889
Change-Id: I3b9f8893756e329640de464e6f2e26a39e7dbd9e
2024-05-06 15:36:01 -07:00
Yuval Tassa 03a8fa9ca9 Improvements to minimize.least_squares:
- Added central differencing option.
- Changed `mu` semantics from log10 to actual values.
- `mu` control is now more aggressive, saves a few iterations.
- Use Armijo sufficient reduction criterion.
- Added some checks for float64 and NaNs.
- Added log of final result to trace.
- Removed unhelpful QP timing.

PiperOrigin-RevId: 610096950
Change-Id: Idf1a7c3155ce8e82fc2d5fe0f2da2f16636ff63d
2024-02-24 20:42:45 -08:00
Yuval Tassa b56d4bf8a5 Add mujoco.minimize module.
PiperOrigin-RevId: 608443678
Change-Id: Ib5dc78fe4523488b6c4e824f226591cf6a8a6216
2024-02-19 18:58:42 -08:00