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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Close unit-test milestone #41

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

In GitLab by @nmansard on Nov 28, 2018, 09:52

The unit test list should be as follows:

  1. DDP converges in 1 step for LQR systems
  2. DDP and KKT for LQR matches
  3. num-diff versus algo diff
  4. stopping criteria unit test (tbf, possibly compare with KKT)
  5. regularization unit test (test that backward pass with regularization or with control cost is equal)
  6. regularization tuning test (tbf)

We may also want to add an integrative test with the arm (and later with legged robots), i.e. comparing the numerical results of the test with a reference execution.

Unit-test validation before merge-request, implemented by @nim65s should be active.

When all that points are matched, close the milestone unittest.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Dec 3, 2018, 13:35

changed the description

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Dec 3, 2018, 13:36

For the moment, we have solved the point 1. @nmansard I need that you check a proposed solution for the point 4.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Dec 6, 2018, 17:47

mentioned in merge request !29

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Dec 6, 2018, 22:54

@nmansard I am not sure if I understand the point 5. How is possible that the control cost is equals to the regularization?

For instance the control cost (0.5 u^T Q u^T) has a gradient different to zero (i.e. Q u), and often this isn't zero in the optimal solution neither. On the other hand, regularization scheme affects only Quu (mu * I), not Qu!.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Dec 7, 2018, 09:43

Currently working: 1,2,4

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Dec 7, 2018, 20:57

mentioned in merge request !31

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Dec 7, 2018, 20:58

And now working 3.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Dec 11, 2018, 18:20

mentioned in merge request !32

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Dec 11, 2018, 18:20

At the moment it's missing only the point 6.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Jan 21, 2019, 15:27

Done.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Jan 21, 2019, 15:27

closed