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nepfaff / robot_payload_id

Identifying object inertial properties using a robot arm
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Compare adding nevergrad constraints as penalty vs 'register_cheap_constraint' #18

Closed nepfaff closed 4 months ago

nepfaff commented 5 months ago

At the moment, we are adding constraints as penalty functions. Nevergrad also has register_cheap_constraint. The goal of this issue is twofold:

  1. Understand what exactly register_cheap_constraint does and whether it could be better than penalties in theory
  2. If theoretically desirable, empirically compare the performance of both methods

Additionally, nevergrad's minimize function also has a constraint_violations argument (see here). How does this compare to penalties or registered constraints?

nepfaff commented 4 months ago

augmented Lagrangian seems superior. Closing this