Hypot -> sqrt improves behavior by 10%. Puts Path align critic from ~20% to ~11%
Changed the point/trajectory steps from 1/2 to 2/3. Extends the gains from ~11% to ~6% --> all of evaluating critics is now a total of 16%. Generating the noised trajectories is now 46%
Total, these 2 changes get us back about 14% -- which is kind of nuts
This leaves integrateStateVelocities's concatenation at a total of 21% of the total run time (and integrateStateVelocities in total is 26%).
I can't tell exactly where the 46-26=20% is left under the trajectory generation process, but it points to generateNoisedControls as a function, so I'm making an educated guess that the concatenation there is a big contributor to it since those numbers are consistent with the overhead in integrateStateVelocities and those are the only 2 places that concats are used anywhere in the program.
Total, these 2 changes get us back about 14% -- which is kind of nuts
This leaves
integrateStateVelocities's concatenation at a total of 21% of the total run time (andintegrateStateVelocitiesin total is 26%).I can't tell exactly where the
46-26=20%is left under the trajectory generation process, but it points togenerateNoisedControlsas a function, so I'm making an educated guess that the concatenation there is a big contributor to it since those numbers are consistent with the overhead inintegrateStateVelocitiesand those are the only 2 places that concats are used anywhere in the program.