Core CPU Benchmarks
- The linear solver is MUMPS for all experiments.
- Below you can find Dolan–Moré performance profiles comparing solver–model combinations on the set of optimal control problems and grid sizes. For a detailed explanation of how to read these profiles, see the Performance Profiles page.
Ubuntu Latest
This benchmark suite evaluates optimal control problems on a standard CPU platform using GitHub Actions runners.
⚙️ Configuration
Problems: beam, chain, double_oscillator, electric_vehicle, glider, insurance, jackson, robbins, robot, rocket, space_shuttle, steering, vanderpol
Solvers: ipopt, madnlp
Models: adnlp, exa, jump
Grid sizes: 200, 500, 1000, 2000 discretization points
Discretization: trapeze method
Tolerance: 1.0e-8
Ipopt strategy: adaptive barrier parameter
Limits: 1000 iterations max, 500.0s wall time
🖥️ Environment
📅 Timestamp : 2025-11-17 15:16:44 UTC
🔧 Julia version : 1.11.7
💻 OS : Linux
🖥️ Machine : runnervmg1sw1You can download the exact environment used for this benchmark:
📦 Project.toml - Package dependencies
📋 Manifest.toml - Complete dependency tree with versions
📜 Benchmark script - Julia script to run the benchmark
These files allow you to reproduce the benchmark environment and results exactly.
ℹ️ Version info
Julia Version 1.11.7
Commit f2b3dbda30a (2025-09-08 12:10 UTC)
Build Info:
Official https://julialang.org/ release
Platform Info:
OS: Linux (x86_64-linux-gnu)
CPU: 4 × AMD EPYC 7763 64-Core Processor
WORD_SIZE: 64
LLVM: libLLVM-16.0.6 (ORCJIT, znver3)
Threads: 1 default, 0 interactive, 1 GC (on 4 virtual cores)
Environment:
JULIA_PKG_SERVER_REGISTRY_PREFERENCE = eager📦 Package status
Project CTBenchmarks v0.2.3
Status `~/work/CTBenchmarks.jl/CTBenchmarks.jl/Project.toml`
[6e4b80f9] BenchmarkTools v1.6.3
⌃ [54762871] CTBase v0.16.2
[052768ef] CUDA v5.9.4
[a93c6f00] DataFrames v1.8.1
[ffbed154] DocStringExtensions v0.9.5
[b6b21f68] Ipopt v1.13.0
[682c06a0] JSON v1.3.0
[4076af6c] JuMP v1.29.3
[d72a61cc] MadNLPGPU v0.7.16
[3b83494e] MadNLPMumps v0.5.1
[f4238b75] NLPModelsIpopt v0.11.0
[5f98b655] OptimalControl v1.1.6
[59046045] OptimalControlProblems v0.3.2
[91a5bcdd] Plots v1.41.1
[bd369af6] Tables v1.12.1
[ade2ca70] Dates v1.11.0
[b77e0a4c] InteractiveUtils v1.11.0
[44cfe95a] Pkg v1.11.0
[de0858da] Printf v1.11.0
[6462fe0b] Sockets v1.11.0
Info Packages marked with ⌃ have new versions available and may be upgradable.📚 Complete manifest
Project CTBenchmarks v0.2.3
Status `~/work/CTBenchmarks.jl/CTBenchmarks.jl/Manifest.toml`
[54578032] ADNLPModels v0.8.13
[47edcb42] ADTypes v1.19.0
[14f7f29c] AMD v0.5.3
[621f4979] AbstractFFTs v1.5.0
[79e6a3ab] Adapt v4.4.0
[66dad0bd] AliasTables v1.1.3
[a9b6321e] Atomix v1.1.2
[13072b0f] AxisAlgorithms v1.1.0
[ab4f0b2a] BFloat16s v0.6.0
[6e4b80f9] BenchmarkTools v1.6.3
[d1d4a3ce] BitFlags v0.1.9
[fa961155] CEnum v0.5.0
⌃ [54762871] CTBase v0.16.2
[790bbbee] CTDirect v0.17.4
[1c39547c] CTFlows v0.8.9
[34c4fa32] CTModels v0.6.9
[32681960] CTParser v0.7.1
[052768ef] CUDA v5.9.4
[1af6417a] CUDA_Runtime_Discovery v1.0.0
[45b445bb] CUDSS v0.6.1
[d360d2e6] ChainRulesCore v1.26.0
[523fee87] CodecBzip2 v0.8.5
[944b1d66] CodecZlib v0.7.8
[35d6a980] ColorSchemes v3.31.0
[3da002f7] ColorTypes v0.12.1
[c3611d14] ColorVectorSpace v0.11.0
[5ae59095] Colors v0.13.1
[38540f10] CommonSolve v0.2.4
[bbf7d656] CommonSubexpressions v0.3.1
[34da2185] Compat v4.18.1
[f0e56b4a] ConcurrentUtilities v2.5.0
[d38c429a] Contour v0.6.3
[a8cc5b0e] Crayons v4.1.1
[9a962f9c] DataAPI v1.16.0
[a93c6f00] DataFrames v1.8.1
[864edb3b] DataStructures v0.19.3
[e2d170a0] DataValueInterfaces v1.0.0
[8bb1440f] DelimitedFiles v1.9.1
[163ba53b] DiffResults v1.1.0
[b552c78f] DiffRules v1.15.1
[ffbed154] DocStringExtensions v0.9.5
[1037b233] ExaModels v0.9.2
[460bff9d] ExceptionUnwrapping v0.1.11
[e2ba6199] ExprTools v0.1.10
[c87230d0] FFMPEG v0.4.5
[9aa1b823] FastClosures v0.3.2
[1a297f60] FillArrays v1.15.0
[53c48c17] FixedPointNumbers v0.8.5
[1fa38f19] Format v1.3.7
[f6369f11] ForwardDiff v1.3.0
[069b7b12] FunctionWrappers v1.1.3
[0c68f7d7] GPUArrays v11.2.6
[46192b85] GPUArraysCore v0.2.0
[61eb1bfa] GPUCompiler v1.7.4
[096a3bc2] GPUToolbox v1.0.0
[28b8d3ca] GR v0.73.18
[42e2da0e] Grisu v1.0.2
[34c5aeac] HSL v0.5.2
[cd3eb016] HTTP v1.10.19
[076d061b] HashArrayMappedTries v0.2.0
[842dd82b] InlineStrings v1.4.5
[a98d9a8b] Interpolations v0.16.2
[41ab1584] InvertedIndices v1.3.1
[b6b21f68] Ipopt v1.13.0
[92d709cd] IrrationalConstants v0.2.6
[82899510] IteratorInterfaceExtensions v1.0.0
[1019f520] JLFzf v0.1.11
[692b3bcd] JLLWrappers v1.7.1
[682c06a0] JSON v1.3.0
[0f8b85d8] JSON3 v1.14.3
[4076af6c] JuMP v1.29.3
[63c18a36] KernelAbstractions v0.9.39
[40e66cde] LDLFactorizations v0.10.1
[929cbde3] LLVM v9.4.4
[8b046642] LLVMLoopInfo v1.0.0
[b964fa9f] LaTeXStrings v1.4.0
[23fbe1c1] Latexify v0.16.10
[5c8ed15e] LinearOperators v2.11.0
[2ab3a3ac] LogExpFunctions v0.3.29
[e6f89c97] LoggingExtras v1.2.0
[33e6dc65] MKL v0.9.0
[d8e11817] MLStyle v0.4.17
[1914dd2f] MacroTools v0.5.16
[2621e9c9] MadNLP v0.8.12
[d72a61cc] MadNLPGPU v0.7.16
[3b83494e] MadNLPMumps v0.5.1
[b8f27783] MathOptInterface v1.46.0
[739be429] MbedTLS v1.1.9
[442fdcdd] Measures v0.3.3
[2679e427] Metis v1.5.0
[e1d29d7a] Missings v1.2.0
[d8a4904e] MutableArithmetics v1.6.7
[a4795742] NLPModels v0.21.5
[f4238b75] NLPModelsIpopt v0.11.0
[e01155f1] NLPModelsModifiers v0.7.2
[5da4648a] NVTX v1.0.1
[77ba4419] NaNMath v1.1.3
[6fe1bfb0] OffsetArrays v1.17.0
[4d8831e6] OpenSSL v1.6.0
[5f98b655] OptimalControl v1.1.6
[59046045] OptimalControlProblems v0.3.2
[bac558e1] OrderedCollections v1.8.1
[d96e819e] Parameters v0.12.3
[69de0a69] Parsers v2.8.3
[ccf2f8ad] PlotThemes v3.3.0
[995b91a9] PlotUtils v1.4.4
[91a5bcdd] Plots v1.41.1
[2dfb63ee] PooledArrays v1.4.3
⌅ [aea7be01] PrecompileTools v1.2.1
[21216c6a] Preferences v1.5.0
[08abe8d2] PrettyTables v3.1.0
[43287f4e] PtrArrays v1.3.0
[be4d8f0f] Quadmath v0.5.13
[74087812] Random123 v1.7.1
[e6cf234a] RandomNumbers v1.6.0
[c84ed2f1] Ratios v0.4.5
[3cdcf5f2] RecipesBase v1.3.4
[01d81517] RecipesPipeline v0.6.12
[189a3867] Reexport v1.2.2
[05181044] RelocatableFolders v1.0.1
[ae029012] Requires v1.3.1
[37e2e3b7] ReverseDiff v1.16.1
[7e506255] ScopedValues v1.5.0
[6c6a2e73] Scratch v1.3.0
[91c51154] SentinelArrays v1.4.8
[992d4aef] Showoff v1.0.3
[777ac1f9] SimpleBufferStream v1.2.0
[ff4d7338] SolverCore v0.3.8
[a2af1166] SortingAlgorithms v1.2.2
[9f842d2f] SparseConnectivityTracer v1.1.3
[0a514795] SparseMatrixColorings v0.4.23
[276daf66] SpecialFunctions v2.6.1
[860ef19b] StableRNGs v1.0.4
[90137ffa] StaticArrays v1.9.15
[1e83bf80] StaticArraysCore v1.4.4
[10745b16] Statistics v1.11.1
[82ae8749] StatsAPI v1.7.1
[2913bbd2] StatsBase v0.34.8
[892a3eda] StringManipulation v0.4.1
[856f2bd8] StructTypes v1.11.0
[ec057cc2] StructUtils v2.6.0
[3783bdb8] TableTraits v1.0.1
[bd369af6] Tables v1.12.1
[62fd8b95] TensorCore v0.1.1
[a759f4b9] TimerOutputs v0.5.29
[e689c965] Tracy v0.1.6
[3bb67fe8] TranscodingStreams v0.11.3
[5c2747f8] URIs v1.6.1
[3a884ed6] UnPack v1.0.2
[1cfade01] UnicodeFun v0.4.1
[013be700] UnsafeAtomics v0.3.0
[41fe7b60] Unzip v0.2.0
[efce3f68] WoodburyMatrices v1.0.0
[ae81ac8f] ASL_jll v0.1.3+0
[6e34b625] Bzip2_jll v1.0.9+0
[d1e2174e] CUDA_Compiler_jll v0.3.0+0
[4ee394cb] CUDA_Driver_jll v13.0.2+0
[76a88914] CUDA_Runtime_jll v0.19.2+0
[4889d778] CUDSS_jll v0.7.1+0
[83423d85] Cairo_jll v1.18.5+0
[ee1fde0b] Dbus_jll v1.16.2+0
[2702e6a9] EpollShim_jll v0.0.20230411+1
[2e619515] Expat_jll v2.7.3+0
[b22a6f82] FFMPEG_jll v8.0.0+0
[a3f928ae] Fontconfig_jll v2.17.1+0
[d7e528f0] FreeType2_jll v2.13.4+0
[559328eb] FriBidi_jll v1.0.17+0
[0656b61e] GLFW_jll v3.4.0+2
[d2c73de3] GR_jll v0.73.18+0
[b0724c58] GettextRuntime_jll v0.22.4+0
[61579ee1] Ghostscript_jll v9.55.1+0
[7746bdde] Glib_jll v2.86.0+0
[3b182d85] Graphite2_jll v1.3.15+0
[017b0a0e] HSL_jll v4.0.4+0
[2e76f6c2] HarfBuzz_jll v8.5.1+0
[e33a78d0] Hwloc_jll v2.12.2+0
[1d5cc7b8] IntelOpenMP_jll v2025.2.0+0
[9cc047cb] Ipopt_jll v300.1400.1900+0
[aacddb02] JpegTurbo_jll v3.1.3+0
[9c1d0b0a] JuliaNVTXCallbacks_jll v0.2.1+0
[c1c5ebd0] LAME_jll v3.100.3+0
[88015f11] LERC_jll v4.0.1+0
[dad2f222] LLVMExtra_jll v0.0.38+0
[1d63c593] LLVMOpenMP_jll v18.1.8+0
[dd4b983a] LZO_jll v2.10.3+0
[ad6e5548] LibTracyClient_jll v0.9.1+6
[e9f186c6] Libffi_jll v3.4.7+0
[7e76a0d4] Libglvnd_jll v1.7.1+1
[94ce4f54] Libiconv_jll v1.18.0+0
[4b2f31a3] Libmount_jll v2.41.2+0
[89763e89] Libtiff_jll v4.7.2+0
[38a345b3] Libuuid_jll v2.41.2+0
[d00139f3] METIS_jll v5.1.3+0
[856f044c] MKL_jll v2025.2.0+0
[d7ed1dd3] MUMPS_seq_jll v500.800.100+0
[e98f9f5b] NVTX_jll v3.2.2+0
[e7412a2a] Ogg_jll v1.3.6+0
[656ef2d0] OpenBLAS32_jll v0.3.29+0
[458c3c95] OpenSSL_jll v3.5.4+0
[efe28fd5] OpenSpecFun_jll v0.5.6+0
[91d4177d] Opus_jll v1.5.2+0
[36c8627f] Pango_jll v1.57.0+0
⌅ [30392449] Pixman_jll v0.44.2+0
[c0090381] Qt6Base_jll v6.8.2+2
[629bc702] Qt6Declarative_jll v6.8.2+1
[ce943373] Qt6ShaderTools_jll v6.8.2+1
[e99dba38] Qt6Wayland_jll v6.8.2+2
⌅ [319450e9] SPRAL_jll v2025.5.20+0
[a44049a8] Vulkan_Loader_jll v1.3.243+0
[a2964d1f] Wayland_jll v1.24.0+0
⌅ [02c8fc9c] XML2_jll v2.13.9+0
[ffd25f8a] XZ_jll v5.8.1+0
[f67eecfb] Xorg_libICE_jll v1.1.2+0
[c834827a] Xorg_libSM_jll v1.2.6+0
[4f6342f7] Xorg_libX11_jll v1.8.12+0
[0c0b7dd1] Xorg_libXau_jll v1.0.13+0
[935fb764] Xorg_libXcursor_jll v1.2.4+0
[a3789734] Xorg_libXdmcp_jll v1.1.6+0
[1082639a] Xorg_libXext_jll v1.3.7+0
[d091e8ba] Xorg_libXfixes_jll v6.0.2+0
[a51aa0fd] Xorg_libXi_jll v1.8.3+0
[d1454406] Xorg_libXinerama_jll v1.1.6+0
[ec84b674] Xorg_libXrandr_jll v1.5.5+0
[ea2f1a96] Xorg_libXrender_jll v0.9.12+0
[a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0
[c7cfdc94] Xorg_libxcb_jll v1.17.1+0
[cc61e674] Xorg_libxkbfile_jll v1.1.3+0
[e920d4aa] Xorg_xcb_util_cursor_jll v0.1.6+0
[12413925] Xorg_xcb_util_image_jll v0.4.1+0
[2def613f] Xorg_xcb_util_jll v0.4.1+0
[975044d2] Xorg_xcb_util_keysyms_jll v0.4.1+0
[0d47668e] Xorg_xcb_util_renderutil_jll v0.3.10+0
[c22f9ab0] Xorg_xcb_util_wm_jll v0.4.2+0
[35661453] Xorg_xkbcomp_jll v1.4.7+0
[33bec58e] Xorg_xkeyboard_config_jll v2.44.0+0
[c5fb5394] Xorg_xtrans_jll v1.6.0+0
[3161d3a3] Zstd_jll v1.5.7+1
[1e29f10c] demumble_jll v1.3.0+0
[35ca27e7] eudev_jll v3.2.14+0
[214eeab7] fzf_jll v0.61.1+0
[a4ae2306] libaom_jll v3.13.1+0
[0ac62f75] libass_jll v0.17.4+0
[1183f4f0] libdecor_jll v0.2.2+0
[2db6ffa8] libevdev_jll v1.13.4+0
[f638f0a6] libfdk_aac_jll v2.0.4+0
[36db933b] libinput_jll v1.28.1+0
[b53b4c65] libpng_jll v1.6.50+0
[f27f6e37] libvorbis_jll v1.3.8+0
[009596ad] mtdev_jll v1.1.7+0
[1317d2d5] oneTBB_jll v2022.0.0+1
[1270edf5] x264_jll v10164.0.1+0
[dfaa095f] x265_jll v4.1.0+0
[d8fb68d0] xkbcommon_jll v1.9.2+0
[0dad84c5] ArgTools v1.1.2
[56f22d72] Artifacts v1.11.0
[2a0f44e3] Base64 v1.11.0
[ade2ca70] Dates v1.11.0
[8ba89e20] Distributed v1.11.0
[f43a241f] Downloads v1.6.0
[7b1f6079] FileWatching v1.11.0
[9fa8497b] Future v1.11.0
[b77e0a4c] InteractiveUtils v1.11.0
[4af54fe1] LazyArtifacts v1.11.0
[b27032c2] LibCURL v0.6.4
[76f85450] LibGit2 v1.11.0
[8f399da3] Libdl v1.11.0
[37e2e46d] LinearAlgebra v1.11.0
[56ddb016] Logging v1.11.0
[d6f4376e] Markdown v1.11.0
[a63ad114] Mmap v1.11.0
[ca575930] NetworkOptions v1.2.0
[44cfe95a] Pkg v1.11.0
[de0858da] Printf v1.11.0
[9abbd945] Profile v1.11.0
[3fa0cd96] REPL v1.11.0
[9a3f8284] Random v1.11.0
[ea8e919c] SHA v0.7.0
[9e88b42a] Serialization v1.11.0
[1a1011a3] SharedArrays v1.11.0
[6462fe0b] Sockets v1.11.0
[2f01184e] SparseArrays v1.11.0
[f489334b] StyledStrings v1.11.0
[4607b0f0] SuiteSparse
[fa267f1f] TOML v1.0.3
[a4e569a6] Tar v1.10.0
[8dfed614] Test v1.11.0
[cf7118a7] UUIDs v1.11.0
[4ec0a83e] Unicode v1.11.0
[e66e0078] CompilerSupportLibraries_jll v1.1.1+0
[deac9b47] LibCURL_jll v8.6.0+0
[e37daf67] LibGit2_jll v1.7.2+0
[29816b5a] LibSSH2_jll v1.11.0+1
[c8ffd9c3] MbedTLS_jll v2.28.6+0
[14a3606d] MozillaCACerts_jll v2023.12.12
[4536629a] OpenBLAS_jll v0.3.27+1
[05823500] OpenLibm_jll v0.8.5+0
[efcefdf7] PCRE2_jll v10.42.0+1
[bea87d4a] SuiteSparse_jll v7.7.0+0
[83775a58] Zlib_jll v1.2.13+1
[8e850b90] libblastrampoline_jll v5.11.0+0
[8e850ede] nghttp2_jll v1.59.0+0
[3f19e933] p7zip_jll v17.4.0+2
Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`📈 Performance Profile CPU Time
Dataset overview for core-ubuntu-latest:
- Problems: 13 unique optimal control problems
- Instances: 52
- Solver combos: 6
Profile configuration:
- Instance definition: (problem, grid_size)
- Solver combos definition: (model, solver)
- Criterion: CPU time
- Successful runs: 296/312 (94.9%)
- Successful instances: 51/52 (98.1%)
- Unsuccessful instances (no solver converged):
space_shuttle(N = 2000)
Robustness (% of instances solved):
(jump, ipopt): 94.2%(adnlp, ipopt): 92.3%(exa, ipopt): 94.2%(jump, madnlp): 98.1%(adnlp, madnlp): 92.3%(exa, madnlp): 98.1%
Efficiency (% of instances where fastest):
(jump, ipopt): 11.5%(adnlp, ipopt): 0.0%(exa, ipopt): 25.0%(jump, madnlp): 13.5%(adnlp, madnlp): 0.0%(exa, madnlp): 48.1%
Most robust: 2 combinations tied at 98.1%.
Most efficient: (exa, madnlp) was fastest on 48.1% of instances.
For detailed interpretation, see the Performance Profiles page.
📈 Performance Profile CPU Time: two best combos
Dataset overview for core-ubuntu-latest:
- Problems: 13 unique optimal control problems
- Instances: 52
- Solver combos: 2
Profile configuration:
- Instance definition: (problem, grid_size)
- Solver combos definition: (model, solver)
- Criterion: CPU time
- Successful runs: 100/104 (96.2%)
- Successful instances: 51/52 (98.1%)
- Unsuccessful instances (no solver converged):
space_shuttle(N = 2000)
Robustness (% of instances solved):
(exa, ipopt): 94.2%(exa, madnlp): 98.1%
Efficiency (% of instances where fastest):
(exa, ipopt): 34.6%(exa, madnlp): 63.5%
Most robust: (exa, madnlp) solved 98.1% of instances.
Most efficient: (exa, madnlp) was fastest on 63.5% of instances.
For detailed interpretation, see the Performance Profiles page.
📈 Performance Profile Iterations
Dataset overview for core-ubuntu-latest:
- Problems: 13 unique optimal control problems
- Instances: 52
- Solver combos: 6
Profile configuration:
- Instance definition: (problem, grid_size)
- Solver combos definition: (model, solver)
- Criterion: Iterations
- Successful runs: 296/312 (94.9%)
- Successful instances: 51/52 (98.1%)
- Unsuccessful instances (no solver converged):
space_shuttle(N = 2000)
Robustness (% of instances solved):
(jump, ipopt): 94.2%(adnlp, ipopt): 92.3%(exa, ipopt): 94.2%(jump, madnlp): 98.1%(adnlp, madnlp): 92.3%(exa, madnlp): 98.1%
Efficiency (% of instances where fastest):
(jump, ipopt): 61.5%(adnlp, ipopt): 63.5%(exa, ipopt): 63.5%(jump, madnlp): 50.0%(adnlp, madnlp): 46.2%(exa, madnlp): 48.1%
Most robust: 2 combinations tied at 98.1%.
Most efficient: 2 combinations tied at 63.5%.
For detailed interpretation, see the Performance Profiles page.
📊 Tables of Results
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 200 | adnlp | ipopt | 19.904 | 16 | 8.891335 | min | |
| ✓ | 200 | adnlp | madnlp | 17.487 | 21 | 8.891335 | min | |
| ✓ | 200 | exa | ipopt | 15.249 | 16 | 8.891335 | min | |
| ✓ | 200 | exa | madnlp | 12.410 | 21 | 8.891335 | min | |
| ✓ | 200 | jump | ipopt | 15.118 | 16 | 8.891335 | min | |
| ✓ | 200 | jump | madnlp | 11.976 | 21 | 8.891335 | min | ✓ |
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 500 | adnlp | ipopt | 47.187 | 18 | 8.889282 | min | |
| ✓ | 500 | adnlp | madnlp | 34.664 | 18 | 8.889282 | min | |
| ✓ | 500 | exa | ipopt | 35.287 | 18 | 8.889282 | min | |
| ✓ | 500 | exa | madnlp | 23.990 | 18 | 8.889282 | min | |
| ✓ | 500 | jump | ipopt | 36.150 | 18 | 8.889282 | min | |
| ✓ | 500 | jump | madnlp | 22.318 | 18 | 8.889282 | min | ✓ |
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 1000 | adnlp | ipopt | 152.334 | 33 | 8.888988 | min | |
| ✓ | 1000 | adnlp | madnlp | 94.095 | 26 | 8.888987 | min | |
| ✓ | 1000 | exa | ipopt | 114.306 | 33 | 8.888987 | min | |
| ✓ | 1000 | exa | madnlp | 68.506 | 28 | 8.888987 | min | |
| ✓ | 1000 | jump | ipopt | 106.717 | 30 | 8.888987 | min | |
| ✓ | 1000 | jump | madnlp | 66.161 | 28 | 8.888987 | min | ✓ |
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 2000 | adnlp | ipopt | 320.230 | 34 | 8.888913 | min | |
| ✓ | 2000 | adnlp | madnlp | 324.210 | 40 | 8.888914 | min | |
| ✓ | 2000 | exa | ipopt | 198.647 | 29 | 8.888915 | min | ✓ |
| ✓ | 2000 | exa | madnlp | 214.587 | 37 | 8.888913 | min | |
| ✓ | 2000 | jump | ipopt | 218.396 | 32 | 8.888914 | min | |
| ✓ | 2000 | jump | madnlp | 205.254 | 39 | 8.888914 | min |
ℹ️ Log
Benchmarks results:
┌─ Problem: beam
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 15.118 ms | iters: 16 | obj: 8.891335e+00 (min) | CPU: 16.38 KiB
│ │ ✓ | adnlp | time: 19.904 ms | iters: 16 | obj: 8.891335e+00 (min) | CPU: 2.37 MiB
│ │ ✓ | exa | time: 15.249 ms | iters: 16 | obj: 8.891335e+00 (min) | CPU: 72.48 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 36.150 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 18.41 KiB
│ │ ✓ | adnlp | time: 47.187 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 6.47 MiB
│ │ ✓ | exa | time: 35.287 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 137.61 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 106.717 ms | iters: 30 | obj: 8.888987e+00 (min) | CPU: 28.56 KiB
│ │ ✓ | adnlp | time: 152.334 ms | iters: 33 | obj: 8.888988e+00 (min) | CPU: 22.54 MiB
│ │ ✓ | exa | time: 114.306 ms | iters: 33 | obj: 8.888987e+00 (min) | CPU: 258.77 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 218.396 ms | iters: 32 | obj: 8.888914e+00 (min) | CPU: 30.25 KiB
│ │ ✓ | adnlp | time: 320.230 ms | iters: 34 | obj: 8.888913e+00 (min) | CPU: 46.25 MiB
│ │ ✓ | exa | time: 198.647 ms | iters: 29 | obj: 8.888915e+00 (min) | CPU: 465.58 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 11.976 ms | iters: 21 | obj: 8.891335e+00 (min) | CPU: 2.16 MiB
│ │ ✓ | adnlp | time: 17.487 ms | iters: 21 | obj: 8.891335e+00 (min) | CPU: 4.91 MiB
│ │ ✓ | exa | time: 12.410 ms | iters: 21 | obj: 8.891335e+00 (min) | CPU: 2.07 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 22.318 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 4.22 MiB
│ │ ✓ | adnlp | time: 34.664 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 10.13 MiB
│ │ ✓ | exa | time: 23.990 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 4.06 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 66.161 ms | iters: 28 | obj: 8.888987e+00 (min) | CPU: 10.25 MiB
│ │ ✓ | adnlp | time: 94.095 ms | iters: 26 | obj: 8.888987e+00 (min) | CPU: 26.56 MiB
│ │ ✓ | exa | time: 68.506 ms | iters: 28 | obj: 8.888987e+00 (min) | CPU: 9.78 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 205.254 ms | iters: 39 | obj: 8.888914e+00 (min) | CPU: 24.93 MiB
│ │ ✓ | adnlp | time: 324.210 ms | iters: 40 | obj: 8.888914e+00 (min) | CPU: 76.33 MiB
│ │ ✓ | exa | time: 214.587 ms | iters: 37 | obj: 8.888913e+00 (min) | CPU: 22.69 MiB
│ └─
└─
┌─ Problem: chain
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 12.824 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 15.67 KiB
│ │ ✓ | adnlp | time: 15.516 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 4.40 MiB
│ │ ✓ | exa | time: 9.663 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 70.06 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 57.431 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 31.03 KiB
│ │ ✓ | adnlp | time: 67.312 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 20.40 MiB
│ │ ✓ | exa | time: 40.415 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 146.56 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 52.592 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 13.81 KiB
│ │ ✓ | adnlp | time: 62.405 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 19.35 MiB
│ │ ✓ | exa | time: 38.855 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 250.28 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 128.927 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 13.81 KiB
│ │ ✓ | adnlp | time: 151.518 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 38.65 MiB
│ │ ✓ | exa | time: 86.775 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 476.84 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 13.551 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 6.34 MiB
│ │ ✓ | adnlp | time: 13.708 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 5.85 MiB
│ │ ✓ | exa | time: 8.313 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 1.75 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 56.056 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 16.06 MiB
│ │ ✓ | adnlp | time: 61.513 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 23.99 MiB
│ │ ✓ | exa | time: 35.773 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 4.29 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 57.155 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 32.19 MiB
│ │ ✓ | adnlp | time: 55.022 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 24.73 MiB
│ │ ✓ | exa | time: 30.842 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 6.74 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 162.826 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 62.16 MiB
│ │ ✓ | adnlp | time: 163.312 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 48.99 MiB
│ │ ✓ | exa | time: 104.723 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 13.03 MiB
│ └─
└─
┌─ Problem: double_oscillator
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 9.376 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 17.015 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 5.19 MiB
│ │ ✓ | exa | time: 11.102 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 102.80 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 20.457 ms | iters: 5 | obj: 9.109230e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 40.314 ms | iters: 5 | obj: 9.109230e-04 (min) | CPU: 12.91 MiB
│ │ ✓ | exa | time: 24.929 ms | iters: 5 | obj: 9.109230e-04 (min) | CPU: 213.17 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 38.844 ms | iters: 5 | obj: 9.110069e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 89.028 ms | iters: 5 | obj: 9.110069e-04 (min) | CPU: 25.77 MiB
│ │ ✓ | exa | time: 47.993 ms | iters: 5 | obj: 9.110069e-04 (min) | CPU: 396.55 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 75.346 ms | iters: 5 | obj: 9.110279e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 186.327 ms | iters: 5 | obj: 9.110279e-04 (min) | CPU: 51.49 MiB
│ │ ✓ | exa | time: 94.523 ms | iters: 5 | obj: 9.110279e-04 (min) | CPU: 763.73 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 8.423 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 2.93 MiB
│ │ ✓ | adnlp | time: 15.698 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 7.10 MiB
│ │ ✓ | exa | time: 8.241 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 3.03 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 20.101 ms | iters: 6 | obj: 9.109230e-04 (min) | CPU: 6.96 MiB
│ │ ✓ | adnlp | time: 46.997 ms | iters: 6 | obj: 9.109230e-04 (min) | CPU: 19.09 MiB
│ │ ✓ | exa | time: 21.696 ms | iters: 6 | obj: 9.109230e-04 (min) | CPU: 7.04 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 39.221 ms | iters: 6 | obj: 9.110069e-04 (min) | CPU: 11.58 MiB
│ │ ✓ | adnlp | time: 97.028 ms | iters: 6 | obj: 9.110069e-04 (min) | CPU: 37.69 MiB
│ │ ✓ | exa | time: 42.564 ms | iters: 6 | obj: 9.110069e-04 (min) | CPU: 13.58 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 125.842 ms | iters: 6 | obj: 9.110279e-04 (min) | CPU: 24.24 MiB
│ │ ✓ | adnlp | time: 264.727 ms | iters: 6 | obj: 9.110279e-04 (min) | CPU: 74.89 MiB
│ │ ✓ | exa | time: 174.449 ms | iters: 6 | obj: 9.110279e-04 (min) | CPU: 26.70 MiB
│ └─
└─
┌─ Problem: electric_vehicle
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 5.880 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 9.83 KiB
│ │ ✓ | adnlp | time: 8.532 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 2.71 MiB
│ │ ✓ | exa | time: 4.556 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 58.31 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 12.944 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 10.09 KiB
│ │ ✓ | adnlp | time: 19.292 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 6.74 MiB
│ │ ✓ | exa | time: 9.344 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 107.38 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 23.806 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 10.09 KiB
│ │ ✓ | adnlp | time: 41.684 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 13.44 MiB
│ │ ✓ | exa | time: 17.360 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 189.56 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 48.451 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 10.09 KiB
│ │ ✓ | adnlp | time: 101.431 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 26.84 MiB
│ │ ✓ | exa | time: 33.532 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 353.62 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 6.964 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 4.64 MiB
│ │ ✓ | adnlp | time: 8.080 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 3.86 MiB
│ │ ✓ | exa | time: 3.897 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 1.65 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 16.297 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 10.71 MiB
│ │ ✓ | adnlp | time: 18.391 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 8.98 MiB
│ │ ✓ | exa | time: 8.332 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 3.46 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 32.637 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 22.21 MiB
│ │ ✓ | adnlp | time: 42.744 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 17.52 MiB
│ │ ✓ | exa | time: 15.456 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 6.47 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 86.680 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 42.46 MiB
│ │ ✓ | adnlp | time: 121.007 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 34.59 MiB
│ │ ✓ | exa | time: 54.978 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 12.50 MiB
│ └─
└─
┌─ Problem: glider
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 8.059 s | iters: 306 | obj: 1.248896e+03 (max) | CPU: 575.83 KiB
│ │ ✓ | adnlp | time: 6.590 s | iters: 343 | obj: 1.248896e+03 (max) | CPU: 334.58 MiB
│ │ ✓ | exa | time: 5.529 s | iters: 346 | obj: 1.248896e+03 (max) | CPU: 546.95 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 23.614 s | iters: 677 | obj: 1.247978e+03 (max) | CPU: 1.25 MiB
│ │ ✓ | adnlp | time: 19.212 s | iters: 878 | obj: 1.247978e+03 (max) | CPU: 2.06 GiB
│ │ ✓ | exa | time: 7.192 s | iters: 690 | obj: 1.247978e+03 (max) | CPU: 1014.55 KiB
│ │
│ │ N = 1000
│ │ ✗ | jump | time: 71.380 s | iters: 1000 | obj: 4.568775e+02 (max) | CPU: 1.86 MiB
│ │ ✗ | adnlp | time: 52.115 s | iters: 1000 | obj: 4.570726e+02 (max) | CPU: 4.68 GiB
│ │ ✗ | exa | time: 24.778 s | iters: 1000 | obj: 4.551521e+02 (max) | CPU: 1.49 MiB
│ │
│ │ N = 2000
│ │ ✗ | jump | time: 150.474 s | iters: 1000 | obj: 6.695914e+02 (max) | CPU: 1.86 MiB
│ │ ✗ | adnlp | time: 126.583 s | iters: 1000 | obj: 7.154264e+02 (max) | CPU: 9.34 GiB
│ │ ✗ | exa | time: 61.370 s | iters: 1000 | obj: 6.512920e+02 (max) | CPU: 1.85 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 3.788 s | iters: 302 | obj: 1.248809e+03 (max) | CPU: 71.30 MiB
│ │ ✓ | adnlp | time: 1.742 s | iters: 264 | obj: 1.248809e+03 (max) | CPU: 287.94 MiB
│ │ ✓ | exa | time: 938.796 ms | iters: 297 | obj: 1.248809e+03 (max) | CPU: 31.28 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 24.109 s | iters: 691 | obj: 1.247978e+03 (max) | CPU: 254.43 MiB
│ │ ✓ | adnlp | time: 12.631 s | iters: 685 | obj: 1.247978e+03 (max) | CPU: 1.76 GiB
│ │ ✓ | exa | time: 4.062 s | iters: 543 | obj: 1.247978e+03 (max) | CPU: 129.19 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 48.039 s | iters: 706 | obj: 1.247985e+03 (max) | CPU: 507.92 MiB
│ │ ✓ | adnlp | time: 37.903 s | iters: 712 | obj: 1.247985e+03 (max) | CPU: 3.65 GiB
│ │ ✓ | exa | time: 11.102 s | iters: 727 | obj: 1.247985e+03 (max) | CPU: 315.92 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 88.144 s | iters: 633 | obj: 1.247987e+03 (max) | CPU: 973.19 MiB
│ │ ✓ | adnlp | time: 111.239 s | iters: 850 | obj: 1.247987e+03 (max) | CPU: 8.81 GiB
│ │ ✓ | exa | time: 19.476 s | iters: 532 | obj: 1.247987e+03 (max) | CPU: 498.40 MiB
│ └─
└─
┌─ Problem: insurance
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 404.531 ms | iters: 91 | obj: 2.058581e+00 (max) | CPU: 179.67 KiB
│ │ ✓ | adnlp | time: 535.868 ms | iters: 90 | obj: 2.058581e+00 (max) | CPU: 120.76 MiB
│ │ ✓ | exa | time: 321.088 ms | iters: 91 | obj: 2.058581e+00 (max) | CPU: 246.03 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 1.060 s | iters: 105 | obj: 2.059214e+00 (max) | CPU: 198.28 KiB
│ │ ✓ | adnlp | time: 1.545 s | iters: 96 | obj: 2.059214e+00 (max) | CPU: 312.00 MiB
│ │ ✓ | exa | time: 894.937 ms | iters: 109 | obj: 2.059214e+00 (max) | CPU: 441.50 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 3.149 s | iters: 144 | obj: 2.059511e+00 (max) | CPU: 273.53 KiB
│ │ ✓ | adnlp | time: 4.881 s | iters: 146 | obj: 2.059511e+00 (max) | CPU: 946.02 MiB
│ │ ✓ | exa | time: 2.581 s | iters: 134 | obj: 2.059511e+00 (max) | CPU: 769.39 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 11.468 s | iters: 219 | obj: 2.059700e+00 (max) | CPU: 418.45 KiB
│ │ ✓ | adnlp | time: 16.694 s | iters: 194 | obj: 2.059700e+00 (max) | CPU: 2.46 GiB
│ │ ✓ | exa | time: 6.747 s | iters: 194 | obj: 2.059700e+00 (max) | CPU: 1.40 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 451.160 ms | iters: 120 | obj: 2.058581e+00 (max) | CPU: 36.15 MiB
│ │ ✓ | adnlp | time: 674.460 ms | iters: 120 | obj: 2.058581e+00 (max) | CPU: 200.56 MiB
│ │ ✓ | exa | time: 338.467 ms | iters: 120 | obj: 2.058581e+00 (max) | CPU: 26.53 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 2.775 s | iters: 255 | obj: 2.059207e+00 (max) | CPU: 138.17 MiB
│ │ ✓ | adnlp | time: 6.800 s | iters: 409 | obj: 2.059207e+00 (max) | CPU: 1.52 GiB
│ │ ✓ | exa | time: 3.202 s | iters: 350 | obj: 2.059213e+00 (max) | CPU: 156.60 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 12.190 s | iters: 567 | obj: 2.059511e+00 (max) | CPU: 522.90 MiB
│ │ ✓ | adnlp | time: 17.578 s | iters: 529 | obj: 2.059510e+00 (max) | CPU: 3.76 GiB
│ │ ✓ | exa | time: 9.231 s | iters: 520 | obj: 2.059510e+00 (max) | CPU: 435.45 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 10.044 s | iters: 171 | obj: 2.059697e+00 (max) | CPU: 416.25 MiB
│ │ ✓ | adnlp | time: 16.624 s | iters: 171 | obj: 2.059697e+00 (max) | CPU: 2.56 GiB
│ │ ✓ | exa | time: 6.793 s | iters: 171 | obj: 2.059697e+00 (max) | CPU: 321.89 MiB
│ └─
└─
┌─ Problem: jackson
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 75.083 ms | iters: 42 | obj: 1.918613e-01 (max) | CPU: 83.09 KiB
│ │ ✓ | adnlp | time: 102.863 ms | iters: 42 | obj: 1.918613e-01 (max) | CPU: 10.81 MiB
│ │ ✓ | exa | time: 81.094 ms | iters: 42 | obj: 1.918613e-01 (max) | CPU: 124.30 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 242.362 ms | iters: 58 | obj: 1.918219e-01 (max) | CPU: 111.28 KiB
│ │ ✓ | adnlp | time: 329.261 ms | iters: 58 | obj: 1.918219e-01 (max) | CPU: 36.19 MiB
│ │ ✓ | exa | time: 254.786 ms | iters: 58 | obj: 1.918219e-01 (max) | CPU: 226.61 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 137.077 ms | iters: 21 | obj: 1.918162e-01 (max) | CPU: 41.70 KiB
│ │ ✓ | adnlp | time: 220.467 ms | iters: 21 | obj: 1.918162e-01 (max) | CPU: 27.46 MiB
│ │ ✓ | exa | time: 141.741 ms | iters: 21 | obj: 1.918162e-01 (max) | CPU: 332.67 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 230.133 ms | iters: 19 | obj: 1.918148e-01 (max) | CPU: 37.98 KiB
│ │ ✓ | adnlp | time: 527.107 ms | iters: 19 | obj: 1.918148e-01 (max) | CPU: 50.03 MiB
│ │ ✓ | exa | time: 235.875 ms | iters: 19 | obj: 1.918148e-01 (max) | CPU: 619.67 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 48.491 ms | iters: 40 | obj: 1.918610e-01 (max) | CPU: 7.49 MiB
│ │ ✓ | adnlp | time: 79.628 ms | iters: 40 | obj: 1.918610e-01 (max) | CPU: 16.17 MiB
│ │ ✓ | exa | time: 51.225 ms | iters: 40 | obj: 1.918610e-01 (max) | CPU: 7.05 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 47.256 ms | iters: 22 | obj: 1.918217e-01 (max) | CPU: 12.70 MiB
│ │ ✓ | adnlp | time: 93.002 ms | iters: 22 | obj: 1.918217e-01 (max) | CPU: 23.31 MiB
│ │ ✓ | exa | time: 49.110 ms | iters: 22 | obj: 1.918217e-01 (max) | CPU: 11.59 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 98.250 ms | iters: 23 | obj: 1.918159e-01 (max) | CPU: 26.75 MiB
│ │ ✓ | adnlp | time: 231.239 ms | iters: 23 | obj: 1.918159e-01 (max) | CPU: 47.73 MiB
│ │ ✓ | exa | time: 100.397 ms | iters: 23 | obj: 1.918159e-01 (max) | CPU: 23.14 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 235.532 ms | iters: 23 | obj: 1.918142e-01 (max) | CPU: 46.29 MiB
│ │ ✓ | adnlp | time: 666.568 ms | iters: 23 | obj: 1.918142e-01 (max) | CPU: 94.82 MiB
│ │ ✓ | exa | time: 265.660 ms | iters: 23 | obj: 1.918142e-01 (max) | CPU: 45.70 MiB
│ └─
└─
┌─ Problem: robbins
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 24.863 ms | iters: 19 | obj: 1.962626e+01 (min) | CPU: 20.03 KiB
│ │ ✓ | adnlp | time: 33.542 ms | iters: 19 | obj: 1.962626e+01 (min) | CPU: 3.48 MiB
│ │ ✓ | exa | time: 23.500 ms | iters: 19 | obj: 1.962626e+01 (min) | CPU: 95.55 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 51.743 ms | iters: 18 | obj: 1.946663e+01 (min) | CPU: 18.41 KiB
│ │ ✓ | adnlp | time: 70.958 ms | iters: 18 | obj: 1.946663e+01 (min) | CPU: 8.08 MiB
│ │ ✓ | exa | time: 51.924 ms | iters: 18 | obj: 1.946663e+01 (min) | CPU: 180.92 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 136.648 ms | iters: 27 | obj: 1.944019e+01 (min) | CPU: 26.03 KiB
│ │ ✓ | adnlp | time: 210.191 ms | iters: 27 | obj: 1.944019e+01 (min) | CPU: 23.33 MiB
│ │ ✓ | exa | time: 139.435 ms | iters: 27 | obj: 1.944019e+01 (min) | CPU: 334.64 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 301.335 ms | iters: 30 | obj: 1.943391e+01 (min) | CPU: 28.56 KiB
│ │ ✓ | adnlp | time: 582.715 ms | iters: 30 | obj: 1.943391e+01 (min) | CPU: 51.38 MiB
│ │ ✓ | exa | time: 320.649 ms | iters: 30 | obj: 1.943391e+01 (min) | CPU: 626.80 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 26.700 ms | iters: 34 | obj: 1.962626e+01 (min) | CPU: 3.20 MiB
│ │ ✓ | adnlp | time: 44.031 ms | iters: 34 | obj: 1.962626e+01 (min) | CPU: 8.57 MiB
│ │ ✓ | exa | time: 27.560 ms | iters: 34 | obj: 1.962626e+01 (min) | CPU: 2.95 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 56.077 ms | iters: 31 | obj: 1.946663e+01 (min) | CPU: 6.63 MiB
│ │ ✓ | adnlp | time: 86.884 ms | iters: 29 | obj: 1.946663e+01 (min) | CPU: 17.86 MiB
│ │ ✓ | exa | time: 53.861 ms | iters: 29 | obj: 1.946663e+01 (min) | CPU: 5.98 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 171.187 ms | iters: 50 | obj: 1.944019e+01 (min) | CPU: 17.09 MiB
│ │ ✓ | adnlp | time: 332.084 ms | iters: 50 | obj: 1.944019e+01 (min) | CPU: 56.41 MiB
│ │ ✓ | exa | time: 172.922 ms | iters: 50 | obj: 1.944019e+01 (min) | CPU: 15.75 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 352.248 ms | iters: 43 | obj: 1.943392e+01 (min) | CPU: 28.73 MiB
│ │ ✓ | adnlp | time: 759.364 ms | iters: 43 | obj: 1.943392e+01 (min) | CPU: 97.84 MiB
│ │ ✓ | exa | time: 384.560 ms | iters: 43 | obj: 1.943392e+01 (min) | CPU: 27.86 MiB
│ └─
└─
┌─ Problem: robot
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 101.020 ms | iters: 19 | obj: 9.141395e+00 (min) | CPU: 37.98 KiB
│ │ ✓ | adnlp | time: 119.609 ms | iters: 19 | obj: 9.141395e+00 (min) | CPU: 13.56 MiB
│ │ ✓ | exa | time: 72.825 ms | iters: 19 | obj: 9.141395e+00 (min) | CPU: 181.86 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 304.818 ms | iters: 22 | obj: 9.140990e+00 (min) | CPU: 43.56 KiB
│ │ ✓ | adnlp | time: 363.129 ms | iters: 22 | obj: 9.140990e+00 (min) | CPU: 38.52 MiB
│ │ ✓ | exa | time: 201.961 ms | iters: 22 | obj: 9.140990e+00 (min) | CPU: 374.58 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 1.261 s | iters: 35 | obj: 9.140931e+00 (min) | CPU: 69.30 KiB
│ │ ✓ | adnlp | time: 1.422 s | iters: 33 | obj: 9.140933e+00 (min) | CPU: 113.19 MiB
│ │ ✓ | exa | time: 631.095 ms | iters: 31 | obj: 9.140932e+00 (min) | CPU: 701.30 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 2.591 s | iters: 30 | obj: 9.140917e+00 (min) | CPU: 58.44 KiB
│ │ ✓ | adnlp | time: 3.026 s | iters: 30 | obj: 9.140917e+00 (min) | CPU: 205.28 MiB
│ │ ✓ | exa | time: 1.444 s | iters: 30 | obj: 9.140917e+00 (min) | CPU: 1.30 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 114.948 ms | iters: 23 | obj: 9.141397e+00 (min) | CPU: 23.90 MiB
│ │ ✓ | adnlp | time: 157.126 ms | iters: 25 | obj: 9.141397e+00 (min) | CPU: 24.89 MiB
│ │ ✓ | exa | time: 75.433 ms | iters: 23 | obj: 9.141397e+00 (min) | CPU: 8.24 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 392.982 ms | iters: 29 | obj: 9.140992e+00 (min) | CPU: 62.28 MiB
│ │ ✓ | adnlp | time: 508.021 ms | iters: 29 | obj: 9.140992e+00 (min) | CPU: 70.01 MiB
│ │ ✓ | exa | time: 237.411 ms | iters: 29 | obj: 9.140992e+00 (min) | CPU: 22.72 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 1.004 s | iters: 28 | obj: 9.140939e+00 (min) | CPU: 125.45 MiB
│ │ ✓ | adnlp | time: 1.004 s | iters: 28 | obj: 9.140939e+00 (min) | CPU: 134.27 MiB
│ │ ✓ | exa | time: 570.753 ms | iters: 28 | obj: 9.140939e+00 (min) | CPU: 43.46 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 16.756 s | iters: 182 | obj: 9.140931e+00 (min) | CPU: 583.10 MiB
│ │ ✗ | adnlp : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│ │ ✓ | exa | time: 2.624 s | iters: 49 | obj: 9.140922e+00 (min) | CPU: 180.65 MiB
│ └─
└─
┌─ Problem: rocket
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 48.787 ms | iters: 18 | obj: 1.012836e+00 (max) | CPU: 36.12 KiB
│ │ ✓ | adnlp | time: 65.334 ms | iters: 18 | obj: 1.012836e+00 (max) | CPU: 16.91 MiB
│ │ ✓ | exa | time: 27.694 ms | iters: 18 | obj: 1.012836e+00 (max) | CPU: 100.95 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 147.958 ms | iters: 21 | obj: 1.012837e+00 (max) | CPU: 41.70 KiB
│ │ ✓ | adnlp | time: 217.539 ms | iters: 21 | obj: 1.012837e+00 (max) | CPU: 48.36 MiB
│ │ ✓ | exa | time: 72.887 ms | iters: 21 | obj: 1.012837e+00 (max) | CPU: 190.67 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 430.870 ms | iters: 24 | obj: 1.012837e+00 (max) | CPU: 47.28 KiB
│ │ ✓ | adnlp | time: 587.142 ms | iters: 24 | obj: 1.012837e+00 (max) | CPU: 109.20 MiB
│ │ ✓ | exa | time: 167.252 ms | iters: 24 | obj: 1.012837e+00 (max) | CPU: 338.39 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 996.051 ms | iters: 23 | obj: 1.012837e+00 (max) | CPU: 45.42 KiB
│ │ ✓ | adnlp | time: 933.176 ms | iters: 23 | obj: 1.012837e+00 (max) | CPU: 209.72 MiB
│ │ ✓ | exa | time: 363.288 ms | iters: 23 | obj: 1.012837e+00 (max) | CPU: 626.42 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 53.378 ms | iters: 21 | obj: 1.012835e+00 (max) | CPU: 19.98 MiB
│ │ ✓ | adnlp | time: 64.080 ms | iters: 21 | obj: 1.012835e+00 (max) | CPU: 23.15 MiB
│ │ ✓ | exa | time: 23.297 ms | iters: 21 | obj: 1.012835e+00 (max) | CPU: 4.72 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 140.251 ms | iters: 22 | obj: 1.012835e+00 (max) | CPU: 49.96 MiB
│ │ ✓ | adnlp | time: 166.378 ms | iters: 22 | obj: 1.012835e+00 (max) | CPU: 59.15 MiB
│ │ ✓ | exa | time: 59.151 ms | iters: 22 | obj: 1.012835e+00 (max) | CPU: 11.18 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 352.018 ms | iters: 24 | obj: 1.012836e+00 (max) | CPU: 99.21 MiB
│ │ ✓ | adnlp | time: 431.178 ms | iters: 24 | obj: 1.012836e+00 (max) | CPU: 126.97 MiB
│ │ ✓ | exa | time: 132.762 ms | iters: 24 | obj: 1.012836e+00 (max) | CPU: 22.71 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 833.681 ms | iters: 21 | obj: 1.012830e+00 (max) | CPU: 195.09 MiB
│ │ ✓ | adnlp | time: 932.276 ms | iters: 21 | obj: 1.012830e+00 (max) | CPU: 225.06 MiB
│ │ ✓ | exa | time: 281.311 ms | iters: 21 | obj: 1.012830e+00 (max) | CPU: 42.07 MiB
│ └─
└─
┌─ Problem: space_shuttle
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 4.371 s | iters: 145 | obj: 3.853783e-01 (max) | CPU: 272.27 KiB
│ │ ✓ | adnlp | time: 1.554 s | iters: 125 | obj: 3.853783e-01 (max) | CPU: 213.22 MiB
│ │ ✓ | exa | time: 863.838 ms | iters: 125 | obj: 3.853783e-01 (max) | CPU: 333.86 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 8.023 s | iters: 115 | obj: 5.958750e-01 (max) | CPU: 216.48 KiB
│ │ ✗ | adnlp : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│ │ ✓ | exa | time: 1.842 s | iters: 109 | obj: 5.958750e-01 (max) | CPU: 490.80 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 22.893 s | iters: 140 | obj: 3.050197e-01 (max) | CPU: 266.09 KiB
│ │ ✓ | adnlp | time: 44.157 s | iters: 230 | obj: 3.036092e-01 (max) | CPU: 1.90 GiB
│ │ ✓ | exa | time: 13.413 s | iters: 201 | obj: 3.037425e-01 (max) | CPU: 875.75 KiB
│ │
│ │ N = 2000
│ │ ✗ | jump | time: 303.877 s | iters: 1000 | obj: -1.257847e+00 (max) | CPU: 2.39 MiB
│ │ ✗ | adnlp | time: 529.354 s | iters: 129 | obj: -1.603350e-02 (max) | CPU: 2.28 GiB
│ │ ✗ | exa | time: 654.078 s | iters: 122 | obj: -9.001577e-03 (max) | CPU: 1.35 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 2.984 s | iters: 114 | obj: 3.853794e-01 (max) | CPU: 148.56 MiB
│ │ ✓ | adnlp | time: 2.076 s | iters: 149 | obj: 3.854934e-01 (max) | CPU: 302.38 MiB
│ │ ✓ | exa | time: 792.255 ms | iters: 149 | obj: 3.854934e-01 (max) | CPU: 44.96 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 6.330 s | iters: 77 | obj: 5.958750e-01 (max) | CPU: 343.37 MiB
│ │ ✓ | adnlp | time: 10.510 s | iters: 140 | obj: 5.958750e-01 (max) | CPU: 692.76 MiB
│ │ ✓ | exa | time: 1.764 s | iters: 140 | obj: 5.958750e-01 (max) | CPU: 100.33 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 222.187 s | iters: 866 | obj: 3.050197e-01 (max) | CPU: 2.29 GiB
│ │ ✗ | adnlp : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│ │ ✓ | exa | time: 16.842 s | iters: 542 | obj: 3.050197e-01 (max) | CPU: 1.00 GiB
│ │
│ │ N = 2000
│ │ ✗ | jump | time: 171.617 s | iters: 393 | obj: 5.828060e-01 (max) | CPU: 2.91 GiB
│ │ ✗ | adnlp | time: 76.285 s | iters: 201 | obj: 3.583080e-01 (max) | CPU: 4.06 GiB
│ │ ✗ | exa | time: 13.862 s | iters: 190 | obj: 3.805993e-01 (max) | CPU: 557.28 MiB
│ └─
└─
┌─ Problem: steering
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 34.728 ms | iters: 12 | obj: 5.545770e-01 (min) | CPU: 25.36 KiB
│ │ ✓ | adnlp | time: 44.071 ms | iters: 12 | obj: 5.545770e-01 (min) | CPU: 6.94 MiB
│ │ ✓ | exa | time: 28.251 ms | iters: 12 | obj: 5.545770e-01 (min) | CPU: 106.84 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 116.950 ms | iters: 17 | obj: 5.545719e-01 (min) | CPU: 34.66 KiB
│ │ ✓ | adnlp | time: 140.273 ms | iters: 17 | obj: 5.545719e-01 (min) | CPU: 23.39 MiB
│ │ ✓ | exa | time: 96.846 ms | iters: 17 | obj: 5.545719e-01 (min) | CPU: 222.38 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 272.801 ms | iters: 18 | obj: 5.545711e-01 (min) | CPU: 36.52 KiB
│ │ ✓ | adnlp | time: 344.599 ms | iters: 18 | obj: 5.545711e-01 (min) | CPU: 49.13 MiB
│ │ ✓ | exa | time: 210.772 ms | iters: 18 | obj: 5.545711e-01 (min) | CPU: 406.78 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 761.199 ms | iters: 18 | obj: 5.545709e-01 (min) | CPU: 36.52 KiB
│ │ ✓ | adnlp | time: 1.187 s | iters: 18 | obj: 5.545709e-01 (min) | CPU: 98.13 MiB
│ │ ✓ | exa | time: 502.635 ms | iters: 18 | obj: 5.545709e-01 (min) | CPU: 773.97 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 34.518 ms | iters: 14 | obj: 5.545770e-01 (min) | CPU: 9.38 MiB
│ │ ✓ | adnlp | time: 39.643 ms | iters: 14 | obj: 5.545770e-01 (min) | CPU: 10.39 MiB
│ │ ✓ | exa | time: 25.092 ms | iters: 14 | obj: 5.545770e-01 (min) | CPU: 2.89 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 91.930 ms | iters: 15 | obj: 5.545719e-01 (min) | CPU: 23.25 MiB
│ │ ✓ | adnlp | time: 105.811 ms | iters: 15 | obj: 5.545719e-01 (min) | CPU: 26.48 MiB
│ │ ✓ | exa | time: 65.216 ms | iters: 15 | obj: 5.545719e-01 (min) | CPU: 6.56 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 204.718 ms | iters: 15 | obj: 5.545711e-01 (min) | CPU: 44.78 MiB
│ │ ✗ | adnlp : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│ │ ✓ | exa | time: 143.839 ms | iters: 15 | obj: 5.545711e-01 (min) | CPU: 12.58 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 536.638 ms | iters: 14 | obj: 5.545709e-01 (min) | CPU: 86.02 MiB
│ │ ✓ | adnlp | time: 577.047 ms | iters: 14 | obj: 5.545709e-01 (min) | CPU: 98.64 MiB
│ │ ✓ | exa | time: 321.690 ms | iters: 14 | obj: 5.545709e-01 (min) | CPU: 24.05 MiB
│ └─
└─
┌─ Problem: vanderpol
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 4.749 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 8.02 KiB
│ │ ✓ | adnlp | time: 6.877 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 955.22 KiB
│ │ ✓ | exa | time: 3.735 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 53.44 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 10.185 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 8.23 KiB
│ │ ✓ | adnlp | time: 14.177 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 2.30 MiB
│ │ ✓ | exa | time: 7.571 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 102.50 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 18.737 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 8.23 KiB
│ │ ✓ | adnlp | time: 29.824 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 4.58 MiB
│ │ ✓ | exa | time: 14.124 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 184.69 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 37.598 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 8.23 KiB
│ │ ✓ | adnlp | time: 67.202 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 9.13 MiB
│ │ ✓ | exa | time: 27.459 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 348.75 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 6.051 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 4.55 MiB
│ │ ✓ | adnlp | time: 6.055 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 2.02 MiB
│ │ ✓ | exa | time: 3.163 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 1.65 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 14.049 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 10.52 MiB
│ │ ✓ | adnlp | time: 13.321 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 4.40 MiB
│ │ ✓ | exa | time: 6.783 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 3.47 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 28.837 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 21.94 MiB
│ │ ✓ | adnlp | time: 29.925 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 8.38 MiB
│ │ ✓ | exa | time: 12.751 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 6.51 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 77.545 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 43.07 MiB
│ │ ✓ | adnlp | time: 85.129 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 16.34 MiB
│ │ ✓ | exa | time: 48.811 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 12.59 MiB
│ └─
└─Moonshot
This benchmark suite evaluates optimal control problems on self-hosted CPU hardware.
⚙️ Configuration
Problems: beam, chain, double_oscillator, electric_vehicle, glider, insurance, jackson, robbins, robot, rocket, space_shuttle, steering, vanderpol
Solvers: ipopt, madnlp
Models: adnlp, exa, jump
Grid sizes: 200, 500, 1000, 2000, 5000 discretization points
Discretization: trapeze method
Tolerance: 1.0e-8
Ipopt strategy: adaptive barrier parameter
Limits: 1000 iterations max, 400.0s wall time
🖥️ Environment
📅 Timestamp : 2025-11-17 19:47:37 UTC
🔧 Julia version : 1.11.7
💻 OS : Linux
🖥️ Machine : moonshotYou can download the exact environment used for this benchmark:
📦 Project.toml - Package dependencies
📋 Manifest.toml - Complete dependency tree with versions
📜 Benchmark script - Julia script to run the benchmark
These files allow you to reproduce the benchmark environment and results exactly.
ℹ️ Version info
Julia Version 1.11.7
Commit f2b3dbda30a (2025-09-08 12:10 UTC)
Build Info:
Official https://julialang.org/ release
Platform Info:
OS: Linux (x86_64-linux-gnu)
CPU: 144 × Intel(R) Xeon(R) Gold 6140 CPU @ 2.30GHz
WORD_SIZE: 64
LLVM: libLLVM-16.0.6 (ORCJIT, skylake-avx512)
Threads: 16 default, 0 interactive, 8 GC (on 144 virtual cores)
Environment:
JULIA_PKG_SERVER_REGISTRY_PREFERENCE = eager
JULIA_DEPOT_PATH = /scratch/github-actions/julia_depot
LD_LIBRARY_PATH = /home/mschanen/local/lib:/home/mschanen/local/lib:
JULIA_NUM_THREADS = 16📦 Package status
Project CTBenchmarks v0.2.3
Status `/scratch/github-actions/actions_runner_control_toolbox/_work/CTBenchmarks.jl/CTBenchmarks.jl/Project.toml`
[6e4b80f9] BenchmarkTools v1.6.3
⌃ [54762871] CTBase v0.16.2
[052768ef] CUDA v5.9.4
[a93c6f00] DataFrames v1.8.1
[ffbed154] DocStringExtensions v0.9.5
[b6b21f68] Ipopt v1.13.0
[682c06a0] JSON v1.3.0
[4076af6c] JuMP v1.29.3
[d72a61cc] MadNLPGPU v0.7.16
[3b83494e] MadNLPMumps v0.5.1
[f4238b75] NLPModelsIpopt v0.11.0
[5f98b655] OptimalControl v1.1.6
[59046045] OptimalControlProblems v0.3.2
[91a5bcdd] Plots v1.41.1
[bd369af6] Tables v1.12.1
[ade2ca70] Dates v1.11.0
[b77e0a4c] InteractiveUtils v1.11.0
[44cfe95a] Pkg v1.11.0
[de0858da] Printf v1.11.0
[6462fe0b] Sockets v1.11.0
Info Packages marked with ⌃ have new versions available and may be upgradable.📚 Complete manifest
Project CTBenchmarks v0.2.3
Status `/scratch/github-actions/actions_runner_control_toolbox/_work/CTBenchmarks.jl/CTBenchmarks.jl/Manifest.toml`
[54578032] ADNLPModels v0.8.13
[47edcb42] ADTypes v1.19.0
[14f7f29c] AMD v0.5.3
[621f4979] AbstractFFTs v1.5.0
[79e6a3ab] Adapt v4.4.0
[66dad0bd] AliasTables v1.1.3
[a9b6321e] Atomix v1.1.2
[13072b0f] AxisAlgorithms v1.1.0
[ab4f0b2a] BFloat16s v0.6.0
[6e4b80f9] BenchmarkTools v1.6.3
[d1d4a3ce] BitFlags v0.1.9
[fa961155] CEnum v0.5.0
⌃ [54762871] CTBase v0.16.2
[790bbbee] CTDirect v0.17.4
[1c39547c] CTFlows v0.8.9
[34c4fa32] CTModels v0.6.9
[32681960] CTParser v0.7.1
[052768ef] CUDA v5.9.4
[1af6417a] CUDA_Runtime_Discovery v1.0.0
[45b445bb] CUDSS v0.6.1
[d360d2e6] ChainRulesCore v1.26.0
[523fee87] CodecBzip2 v0.8.5
[944b1d66] CodecZlib v0.7.8
[35d6a980] ColorSchemes v3.31.0
[3da002f7] ColorTypes v0.12.1
[c3611d14] ColorVectorSpace v0.11.0
[5ae59095] Colors v0.13.1
[38540f10] CommonSolve v0.2.4
[bbf7d656] CommonSubexpressions v0.3.1
[34da2185] Compat v4.18.1
[f0e56b4a] ConcurrentUtilities v2.5.0
[d38c429a] Contour v0.6.3
[a8cc5b0e] Crayons v4.1.1
[9a962f9c] DataAPI v1.16.0
[a93c6f00] DataFrames v1.8.1
[864edb3b] DataStructures v0.19.3
[e2d170a0] DataValueInterfaces v1.0.0
[8bb1440f] DelimitedFiles v1.9.1
[163ba53b] DiffResults v1.1.0
[b552c78f] DiffRules v1.15.1
[ffbed154] DocStringExtensions v0.9.5
[1037b233] ExaModels v0.9.2
[460bff9d] ExceptionUnwrapping v0.1.11
[e2ba6199] ExprTools v0.1.10
[c87230d0] FFMPEG v0.4.5
[9aa1b823] FastClosures v0.3.2
[1a297f60] FillArrays v1.15.0
[53c48c17] FixedPointNumbers v0.8.5
[1fa38f19] Format v1.3.7
[f6369f11] ForwardDiff v1.3.0
[069b7b12] FunctionWrappers v1.1.3
[0c68f7d7] GPUArrays v11.2.6
[46192b85] GPUArraysCore v0.2.0
[61eb1bfa] GPUCompiler v1.7.4
[096a3bc2] GPUToolbox v1.0.0
[28b8d3ca] GR v0.73.18
[42e2da0e] Grisu v1.0.2
[34c5aeac] HSL v0.5.2
[cd3eb016] HTTP v1.10.19
[076d061b] HashArrayMappedTries v0.2.0
[842dd82b] InlineStrings v1.4.5
[a98d9a8b] Interpolations v0.16.2
[41ab1584] InvertedIndices v1.3.1
[b6b21f68] Ipopt v1.13.0
[92d709cd] IrrationalConstants v0.2.6
[82899510] IteratorInterfaceExtensions v1.0.0
[1019f520] JLFzf v0.1.11
[692b3bcd] JLLWrappers v1.7.1
[682c06a0] JSON v1.3.0
[0f8b85d8] JSON3 v1.14.3
[4076af6c] JuMP v1.29.3
[63c18a36] KernelAbstractions v0.9.39
[40e66cde] LDLFactorizations v0.10.1
[929cbde3] LLVM v9.4.4
[8b046642] LLVMLoopInfo v1.0.0
[b964fa9f] LaTeXStrings v1.4.0
[23fbe1c1] Latexify v0.16.10
[5c8ed15e] LinearOperators v2.11.0
[2ab3a3ac] LogExpFunctions v0.3.29
[e6f89c97] LoggingExtras v1.2.0
[33e6dc65] MKL v0.9.0
[d8e11817] MLStyle v0.4.17
[1914dd2f] MacroTools v0.5.16
[2621e9c9] MadNLP v0.8.12
[d72a61cc] MadNLPGPU v0.7.16
[3b83494e] MadNLPMumps v0.5.1
[b8f27783] MathOptInterface v1.46.0
[739be429] MbedTLS v1.1.9
[442fdcdd] Measures v0.3.3
[2679e427] Metis v1.5.0
[e1d29d7a] Missings v1.2.0
[d8a4904e] MutableArithmetics v1.6.7
[a4795742] NLPModels v0.21.5
[f4238b75] NLPModelsIpopt v0.11.0
[e01155f1] NLPModelsModifiers v0.7.2
[5da4648a] NVTX v1.0.1
[77ba4419] NaNMath v1.1.3
[6fe1bfb0] OffsetArrays v1.17.0
[4d8831e6] OpenSSL v1.6.0
[5f98b655] OptimalControl v1.1.6
[59046045] OptimalControlProblems v0.3.2
[bac558e1] OrderedCollections v1.8.1
[d96e819e] Parameters v0.12.3
[69de0a69] Parsers v2.8.3
[ccf2f8ad] PlotThemes v3.3.0
[995b91a9] PlotUtils v1.4.4
[91a5bcdd] Plots v1.41.1
[2dfb63ee] PooledArrays v1.4.3
⌅ [aea7be01] PrecompileTools v1.2.1
[21216c6a] Preferences v1.5.0
[08abe8d2] PrettyTables v3.1.0
[43287f4e] PtrArrays v1.3.0
[be4d8f0f] Quadmath v0.5.13
[74087812] Random123 v1.7.1
[e6cf234a] RandomNumbers v1.6.0
[c84ed2f1] Ratios v0.4.5
[3cdcf5f2] RecipesBase v1.3.4
[01d81517] RecipesPipeline v0.6.12
[189a3867] Reexport v1.2.2
[05181044] RelocatableFolders v1.0.1
[ae029012] Requires v1.3.1
[37e2e3b7] ReverseDiff v1.16.1
[7e506255] ScopedValues v1.5.0
[6c6a2e73] Scratch v1.3.0
[91c51154] SentinelArrays v1.4.8
[992d4aef] Showoff v1.0.3
[777ac1f9] SimpleBufferStream v1.2.0
[ff4d7338] SolverCore v0.3.8
[a2af1166] SortingAlgorithms v1.2.2
[9f842d2f] SparseConnectivityTracer v1.1.3
[0a514795] SparseMatrixColorings v0.4.23
[276daf66] SpecialFunctions v2.6.1
[860ef19b] StableRNGs v1.0.4
[90137ffa] StaticArrays v1.9.15
[1e83bf80] StaticArraysCore v1.4.4
[10745b16] Statistics v1.11.1
[82ae8749] StatsAPI v1.7.1
[2913bbd2] StatsBase v0.34.8
[892a3eda] StringManipulation v0.4.1
[856f2bd8] StructTypes v1.11.0
[ec057cc2] StructUtils v2.6.0
[3783bdb8] TableTraits v1.0.1
[bd369af6] Tables v1.12.1
[62fd8b95] TensorCore v0.1.1
[a759f4b9] TimerOutputs v0.5.29
[e689c965] Tracy v0.1.6
[3bb67fe8] TranscodingStreams v0.11.3
[5c2747f8] URIs v1.6.1
[3a884ed6] UnPack v1.0.2
[1cfade01] UnicodeFun v0.4.1
[013be700] UnsafeAtomics v0.3.0
[41fe7b60] Unzip v0.2.0
[efce3f68] WoodburyMatrices v1.0.0
[ae81ac8f] ASL_jll v0.1.3+0
[6e34b625] Bzip2_jll v1.0.9+0
[d1e2174e] CUDA_Compiler_jll v0.3.0+0
[4ee394cb] CUDA_Driver_jll v13.0.2+0
[76a88914] CUDA_Runtime_jll v0.19.2+0
[4889d778] CUDSS_jll v0.7.1+0
[83423d85] Cairo_jll v1.18.5+0
[ee1fde0b] Dbus_jll v1.16.2+0
[2702e6a9] EpollShim_jll v0.0.20230411+1
[2e619515] Expat_jll v2.7.3+0
[b22a6f82] FFMPEG_jll v8.0.0+0
[a3f928ae] Fontconfig_jll v2.17.1+0
[d7e528f0] FreeType2_jll v2.13.4+0
[559328eb] FriBidi_jll v1.0.17+0
[0656b61e] GLFW_jll v3.4.0+2
[d2c73de3] GR_jll v0.73.18+0
[b0724c58] GettextRuntime_jll v0.22.4+0
[61579ee1] Ghostscript_jll v9.55.1+0
[7746bdde] Glib_jll v2.86.0+0
[3b182d85] Graphite2_jll v1.3.15+0
[017b0a0e] HSL_jll v4.0.4+0
[2e76f6c2] HarfBuzz_jll v8.5.1+0
[e33a78d0] Hwloc_jll v2.12.2+0
[1d5cc7b8] IntelOpenMP_jll v2025.2.0+0
[9cc047cb] Ipopt_jll v300.1400.1900+0
[aacddb02] JpegTurbo_jll v3.1.3+0
[9c1d0b0a] JuliaNVTXCallbacks_jll v0.2.1+0
[c1c5ebd0] LAME_jll v3.100.3+0
[88015f11] LERC_jll v4.0.1+0
[dad2f222] LLVMExtra_jll v0.0.38+0
[1d63c593] LLVMOpenMP_jll v18.1.8+0
[dd4b983a] LZO_jll v2.10.3+0
[ad6e5548] LibTracyClient_jll v0.9.1+6
[e9f186c6] Libffi_jll v3.4.7+0
[7e76a0d4] Libglvnd_jll v1.7.1+1
[94ce4f54] Libiconv_jll v1.18.0+0
[4b2f31a3] Libmount_jll v2.41.2+0
[89763e89] Libtiff_jll v4.7.2+0
[38a345b3] Libuuid_jll v2.41.2+0
[d00139f3] METIS_jll v5.1.3+0
[856f044c] MKL_jll v2025.2.0+0
[d7ed1dd3] MUMPS_seq_jll v500.800.100+0
[e98f9f5b] NVTX_jll v3.2.2+0
[e7412a2a] Ogg_jll v1.3.6+0
[656ef2d0] OpenBLAS32_jll v0.3.29+0
[458c3c95] OpenSSL_jll v3.5.4+0
[efe28fd5] OpenSpecFun_jll v0.5.6+0
[91d4177d] Opus_jll v1.5.2+0
[36c8627f] Pango_jll v1.57.0+0
⌅ [30392449] Pixman_jll v0.44.2+0
[c0090381] Qt6Base_jll v6.8.2+2
[629bc702] Qt6Declarative_jll v6.8.2+1
[ce943373] Qt6ShaderTools_jll v6.8.2+1
[e99dba38] Qt6Wayland_jll v6.8.2+2
⌅ [319450e9] SPRAL_jll v2025.5.20+0
[a44049a8] Vulkan_Loader_jll v1.3.243+0
[a2964d1f] Wayland_jll v1.24.0+0
⌅ [02c8fc9c] XML2_jll v2.13.9+0
[ffd25f8a] XZ_jll v5.8.1+0
[f67eecfb] Xorg_libICE_jll v1.1.2+0
[c834827a] Xorg_libSM_jll v1.2.6+0
[4f6342f7] Xorg_libX11_jll v1.8.12+0
[0c0b7dd1] Xorg_libXau_jll v1.0.13+0
[935fb764] Xorg_libXcursor_jll v1.2.4+0
[a3789734] Xorg_libXdmcp_jll v1.1.6+0
[1082639a] Xorg_libXext_jll v1.3.7+0
[d091e8ba] Xorg_libXfixes_jll v6.0.2+0
[a51aa0fd] Xorg_libXi_jll v1.8.3+0
[d1454406] Xorg_libXinerama_jll v1.1.6+0
[ec84b674] Xorg_libXrandr_jll v1.5.5+0
[ea2f1a96] Xorg_libXrender_jll v0.9.12+0
[a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0
[c7cfdc94] Xorg_libxcb_jll v1.17.1+0
[cc61e674] Xorg_libxkbfile_jll v1.1.3+0
[e920d4aa] Xorg_xcb_util_cursor_jll v0.1.6+0
[12413925] Xorg_xcb_util_image_jll v0.4.1+0
[2def613f] Xorg_xcb_util_jll v0.4.1+0
[975044d2] Xorg_xcb_util_keysyms_jll v0.4.1+0
[0d47668e] Xorg_xcb_util_renderutil_jll v0.3.10+0
[c22f9ab0] Xorg_xcb_util_wm_jll v0.4.2+0
[35661453] Xorg_xkbcomp_jll v1.4.7+0
[33bec58e] Xorg_xkeyboard_config_jll v2.44.0+0
[c5fb5394] Xorg_xtrans_jll v1.6.0+0
[3161d3a3] Zstd_jll v1.5.7+1
[1e29f10c] demumble_jll v1.3.0+0
[35ca27e7] eudev_jll v3.2.14+0
[214eeab7] fzf_jll v0.61.1+0
[a4ae2306] libaom_jll v3.13.1+0
[0ac62f75] libass_jll v0.17.4+0
[1183f4f0] libdecor_jll v0.2.2+0
[2db6ffa8] libevdev_jll v1.13.4+0
[f638f0a6] libfdk_aac_jll v2.0.4+0
[36db933b] libinput_jll v1.28.1+0
[b53b4c65] libpng_jll v1.6.50+0
[f27f6e37] libvorbis_jll v1.3.8+0
[009596ad] mtdev_jll v1.1.7+0
[1317d2d5] oneTBB_jll v2022.0.0+1
[1270edf5] x264_jll v10164.0.1+0
[dfaa095f] x265_jll v4.1.0+0
[d8fb68d0] xkbcommon_jll v1.9.2+0
[0dad84c5] ArgTools v1.1.2
[56f22d72] Artifacts v1.11.0
[2a0f44e3] Base64 v1.11.0
[ade2ca70] Dates v1.11.0
[8ba89e20] Distributed v1.11.0
[f43a241f] Downloads v1.6.0
[7b1f6079] FileWatching v1.11.0
[9fa8497b] Future v1.11.0
[b77e0a4c] InteractiveUtils v1.11.0
[4af54fe1] LazyArtifacts v1.11.0
[b27032c2] LibCURL v0.6.4
[76f85450] LibGit2 v1.11.0
[8f399da3] Libdl v1.11.0
[37e2e46d] LinearAlgebra v1.11.0
[56ddb016] Logging v1.11.0
[d6f4376e] Markdown v1.11.0
[a63ad114] Mmap v1.11.0
[ca575930] NetworkOptions v1.2.0
[44cfe95a] Pkg v1.11.0
[de0858da] Printf v1.11.0
[9abbd945] Profile v1.11.0
[3fa0cd96] REPL v1.11.0
[9a3f8284] Random v1.11.0
[ea8e919c] SHA v0.7.0
[9e88b42a] Serialization v1.11.0
[1a1011a3] SharedArrays v1.11.0
[6462fe0b] Sockets v1.11.0
[2f01184e] SparseArrays v1.11.0
[f489334b] StyledStrings v1.11.0
[4607b0f0] SuiteSparse
[fa267f1f] TOML v1.0.3
[a4e569a6] Tar v1.10.0
[8dfed614] Test v1.11.0
[cf7118a7] UUIDs v1.11.0
[4ec0a83e] Unicode v1.11.0
[e66e0078] CompilerSupportLibraries_jll v1.1.1+0
[deac9b47] LibCURL_jll v8.6.0+0
[e37daf67] LibGit2_jll v1.7.2+0
[29816b5a] LibSSH2_jll v1.11.0+1
[c8ffd9c3] MbedTLS_jll v2.28.6+0
[14a3606d] MozillaCACerts_jll v2023.12.12
[4536629a] OpenBLAS_jll v0.3.27+1
[05823500] OpenLibm_jll v0.8.5+0
[efcefdf7] PCRE2_jll v10.42.0+1
[bea87d4a] SuiteSparse_jll v7.7.0+0
[83775a58] Zlib_jll v1.2.13+1
[8e850b90] libblastrampoline_jll v5.11.0+0
[8e850ede] nghttp2_jll v1.59.0+0
[3f19e933] p7zip_jll v17.4.0+2
Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`📈 Performance Profile CPU Time
Dataset overview for core-moonshot-cpu:
- Problems: 13 unique optimal control problems
- Instances: 65
- Solver combos: 6
Profile configuration:
- Instance definition: (problem, grid_size)
- Solver combos definition: (model, solver)
- Criterion: CPU time
- Successful runs: 367/390 (94.1%)
- Successful instances: 63/65 (96.9%)
- Unsuccessful instances (no solver converged):
space_shuttle(N = 2000)space_shuttle(N = 5000)
Robustness (% of instances solved):
(jump, ipopt): 92.3%(adnlp, ipopt): 92.3%(exa, ipopt): 92.3%(jump, madnlp): 95.4%(adnlp, madnlp): 95.4%(exa, madnlp): 96.9%
Efficiency (% of instances where fastest):
(jump, ipopt): 10.8%(adnlp, ipopt): 0.0%(exa, ipopt): 27.7%(jump, madnlp): 13.8%(adnlp, madnlp): 0.0%(exa, madnlp): 44.6%
Most robust: (exa, madnlp) solved 96.9% of instances.
Most efficient: (exa, madnlp) was fastest on 44.6% of instances.
For detailed interpretation, see the Performance Profiles page.
📈 Performance Profile CPU Time: two best combos
Dataset overview for core-moonshot-cpu:
- Problems: 13 unique optimal control problems
- Instances: 65
- Solver combos: 2
Profile configuration:
- Instance definition: (problem, grid_size)
- Solver combos definition: (model, solver)
- Criterion: CPU time
- Successful runs: 123/130 (94.6%)
- Successful instances: 63/65 (96.9%)
- Unsuccessful instances (no solver converged):
space_shuttle(N = 2000)space_shuttle(N = 5000)
Robustness (% of instances solved):
(exa, ipopt): 92.3%(exa, madnlp): 96.9%
Efficiency (% of instances where fastest):
(exa, ipopt): 38.5%(exa, madnlp): 58.5%
Most robust: (exa, madnlp) solved 96.9% of instances.
Most efficient: (exa, madnlp) was fastest on 58.5% of instances.
For detailed interpretation, see the Performance Profiles page.
📈 Performance Profile Iterations
Dataset overview for core-moonshot-cpu:
- Problems: 13 unique optimal control problems
- Instances: 65
- Solver combos: 6
Profile configuration:
- Instance definition: (problem, grid_size)
- Solver combos definition: (model, solver)
- Criterion: Iterations
- Successful runs: 367/390 (94.1%)
- Successful instances: 63/65 (96.9%)
- Unsuccessful instances (no solver converged):
space_shuttle(N = 2000)space_shuttle(N = 5000)
Robustness (% of instances solved):
(jump, ipopt): 92.3%(adnlp, ipopt): 92.3%(exa, ipopt): 92.3%(jump, madnlp): 95.4%(adnlp, madnlp): 95.4%(exa, madnlp): 96.9%
Efficiency (% of instances where fastest):
(jump, ipopt): 60.0%(adnlp, ipopt): 64.6%(exa, ipopt): 64.6%(jump, madnlp): 47.7%(adnlp, madnlp): 44.6%(exa, madnlp): 44.6%
Most robust: (exa, madnlp) solved 96.9% of instances.
Most efficient: 2 combinations tied at 64.6%.
For detailed interpretation, see the Performance Profiles page.
📊 Tables of Results
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 200 | adnlp | ipopt | 24.078 | 16 | 8.891335 | min | |
| ✓ | 200 | adnlp | madnlp | 21.014 | 21 | 8.891335 | min | |
| ✓ | 200 | exa | ipopt | 17.596 | 16 | 8.891335 | min | |
| ✓ | 200 | exa | madnlp | 14.291 | 21 | 8.891335 | min | |
| ✓ | 200 | jump | ipopt | 17.885 | 16 | 8.891335 | min | |
| ✓ | 200 | jump | madnlp | 14.288 | 21 | 8.891335 | min | ✓ |
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 500 | adnlp | ipopt | 54.821 | 18 | 8.889282 | min | |
| ✓ | 500 | adnlp | madnlp | 41.023 | 18 | 8.889282 | min | |
| ✓ | 500 | exa | ipopt | 39.561 | 18 | 8.889282 | min | |
| ✓ | 500 | exa | madnlp | 27.279 | 18 | 8.889282 | min | |
| ✓ | 500 | jump | ipopt | 40.744 | 18 | 8.889282 | min | |
| ✓ | 500 | jump | madnlp | 27.241 | 18 | 8.889282 | min | ✓ |
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 1000 | adnlp | ipopt | 177.949 | 33 | 8.888988 | min | |
| ✓ | 1000 | adnlp | madnlp | 120.920 | 28 | 8.888987 | min | |
| ✓ | 1000 | exa | ipopt | 147.827 | 35 | 8.888987 | min | |
| ✓ | 1000 | exa | madnlp | 71.883 | 26 | 8.888987 | min | |
| ✓ | 1000 | jump | ipopt | 119.864 | 30 | 8.888987 | min | |
| ✓ | 1000 | jump | madnlp | 71.061 | 26 | 8.888987 | min | ✓ |
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 2000 | adnlp | ipopt | 408.484 | 34 | 8.888913 | min | |
| ✓ | 2000 | adnlp | madnlp | 391.468 | 40 | 8.888914 | min | |
| ✓ | 2000 | exa | ipopt | 241.900 | 28 | 8.888915 | min | |
| ✓ | 2000 | exa | madnlp | 248.128 | 37 | 8.888914 | min | |
| ✓ | 2000 | jump | ipopt | 254.991 | 32 | 8.888914 | min | |
| ✓ | 2000 | jump | madnlp | 227.536 | 38 | 8.888914 | min | ✓ |
| Success | N | Model | Solver | Time (ms) | Iters | Objective | Criterion | Best |
|---|---|---|---|---|---|---|---|---|
| ✓ | 5000 | adnlp | ipopt | 2559.959 | 60 | 8.888894 | min | |
| ✓ | 5000 | adnlp | madnlp | 2421.147 | 80 | 8.888895 | min | |
| ✓ | 5000 | exa | ipopt | 1316.535 | 52 | 8.888895 | min | |
| ✓ | 5000 | exa | madnlp | 1206.713 | 79 | 8.888895 | min | |
| ✓ | 5000 | jump | ipopt | 1355.778 | 53 | 8.888895 | min | |
| ✓ | 5000 | jump | madnlp | 1129.496 | 80 | 8.888895 | min | ✓ |
ℹ️ Log
Benchmarks results:
┌─ Problem: beam
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 17.885 ms | iters: 16 | obj: 8.891335e+00 (min) | CPU: 16.38 KiB
│ │ ✓ | adnlp | time: 24.078 ms | iters: 16 | obj: 8.891335e+00 (min) | CPU: 2.37 MiB
│ │ ✓ | exa | time: 17.596 ms | iters: 16 | obj: 8.891335e+00 (min) | CPU: 72.48 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 40.744 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 18.41 KiB
│ │ ✓ | adnlp | time: 54.821 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 6.47 MiB
│ │ ✓ | exa | time: 39.561 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 137.61 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 119.864 ms | iters: 30 | obj: 8.888987e+00 (min) | CPU: 28.56 KiB
│ │ ✓ | adnlp | time: 177.949 ms | iters: 33 | obj: 8.888988e+00 (min) | CPU: 22.54 MiB
│ │ ✓ | exa | time: 147.827 ms | iters: 35 | obj: 8.888987e+00 (min) | CPU: 260.83 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 254.991 ms | iters: 32 | obj: 8.888914e+00 (min) | CPU: 30.25 KiB
│ │ ✓ | adnlp | time: 408.484 ms | iters: 34 | obj: 8.888913e+00 (min) | CPU: 46.25 MiB
│ │ ✓ | exa | time: 241.900 ms | iters: 28 | obj: 8.888915e+00 (min) | CPU: 464.55 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 1.356 s | iters: 53 | obj: 8.888895e+00 (min) | CPU: 47.97 KiB
│ │ ✓ | adnlp | time: 2.560 s | iters: 60 | obj: 8.888894e+00 (min) | CPU: 198.84 MiB
│ │ ✓ | exa | time: 1.317 s | iters: 52 | obj: 8.888895e+00 (min) | CPU: 1.10 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 14.288 ms | iters: 21 | obj: 8.891335e+00 (min) | CPU: 2.16 MiB
│ │ ✓ | adnlp | time: 21.014 ms | iters: 21 | obj: 8.891335e+00 (min) | CPU: 4.91 MiB
│ │ ✓ | exa | time: 14.291 ms | iters: 21 | obj: 8.891335e+00 (min) | CPU: 2.07 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 27.241 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 4.22 MiB
│ │ ✓ | adnlp | time: 41.023 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 10.13 MiB
│ │ ✓ | exa | time: 27.279 ms | iters: 18 | obj: 8.889282e+00 (min) | CPU: 4.06 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 71.061 ms | iters: 26 | obj: 8.888987e+00 (min) | CPU: 9.78 MiB
│ │ ✓ | adnlp | time: 120.920 ms | iters: 28 | obj: 8.888987e+00 (min) | CPU: 28.42 MiB
│ │ ✓ | exa | time: 71.883 ms | iters: 26 | obj: 8.888987e+00 (min) | CPU: 9.30 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 227.536 ms | iters: 38 | obj: 8.888914e+00 (min) | CPU: 24.51 MiB
│ │ ✓ | adnlp | time: 391.468 ms | iters: 40 | obj: 8.888914e+00 (min) | CPU: 76.33 MiB
│ │ ✓ | exa | time: 248.128 ms | iters: 37 | obj: 8.888914e+00 (min) | CPU: 22.63 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 1.129 s | iters: 80 | obj: 8.888895e+00 (min) | CPU: 103.92 MiB
│ │ ✓ | adnlp | time: 2.421 s | iters: 80 | obj: 8.888895e+00 (min) | CPU: 359.44 MiB
│ │ ✓ | exa | time: 1.207 s | iters: 79 | obj: 8.888895e+00 (min) | CPU: 99.12 MiB
│ └─
└─
┌─ Problem: chain
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 14.570 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 15.67 KiB
│ │ ✓ | adnlp | time: 18.303 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 4.40 MiB
│ │ ✓ | exa | time: 10.805 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 70.06 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 63.067 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 31.03 KiB
│ │ ✓ | adnlp | time: 78.152 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 20.40 MiB
│ │ ✓ | exa | time: 44.352 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 146.56 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 60.588 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 13.81 KiB
│ │ ✓ | adnlp | time: 73.375 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 19.35 MiB
│ │ ✓ | exa | time: 41.892 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 250.28 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 153.695 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 13.81 KiB
│ │ ✓ | adnlp | time: 163.974 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 38.65 MiB
│ │ ✓ | exa | time: 90.948 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 476.84 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 489.396 ms | iters: 6 | obj: 5.068482e+00 (min) | CPU: 13.81 KiB
│ │ ✓ | adnlp | time: 604.181 ms | iters: 6 | obj: 5.068482e+00 (min) | CPU: 96.56 MiB
│ │ ✓ | exa | time: 304.101 ms | iters: 6 | obj: 5.068482e+00 (min) | CPU: 1.13 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 16.187 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 6.34 MiB
│ │ ✓ | adnlp | time: 16.193 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 5.85 MiB
│ │ ✓ | exa | time: 9.529 ms | iters: 7 | obj: 5.068917e+00 (min) | CPU: 1.75 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 66.219 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 16.06 MiB
│ │ ✓ | adnlp | time: 75.404 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 23.99 MiB
│ │ ✓ | exa | time: 39.390 ms | iters: 14 | obj: 5.068578e+00 (min) | CPU: 4.29 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 69.833 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 32.19 MiB
│ │ ✓ | adnlp | time: 73.869 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 24.73 MiB
│ │ ✓ | exa | time: 33.867 ms | iters: 6 | obj: 5.068510e+00 (min) | CPU: 6.74 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 208.331 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 62.16 MiB
│ │ ✓ | adnlp | time: 230.451 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 48.99 MiB
│ │ ✓ | exa | time: 121.770 ms | iters: 6 | obj: 5.068489e+00 (min) | CPU: 13.03 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 596.588 ms | iters: 6 | obj: 5.068482e+00 (min) | CPU: 158.55 MiB
│ │ ✓ | adnlp | time: 627.752 ms | iters: 6 | obj: 5.068482e+00 (min) | CPU: 121.79 MiB
│ │ ✓ | exa | time: 341.997 ms | iters: 6 | obj: 5.068482e+00 (min) | CPU: 31.90 MiB
│ └─
└─
┌─ Problem: double_oscillator
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 10.639 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 20.155 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 5.19 MiB
│ │ ✓ | exa | time: 12.732 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 102.80 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 22.584 ms | iters: 5 | obj: 9.109230e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 49.235 ms | iters: 5 | obj: 9.109230e-04 (min) | CPU: 12.91 MiB
│ │ ✓ | exa | time: 28.822 ms | iters: 5 | obj: 9.109230e-04 (min) | CPU: 213.17 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 42.206 ms | iters: 5 | obj: 9.110069e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 215.265 ms | iters: 5 | obj: 9.110069e-04 (min) | CPU: 25.77 MiB
│ │ ✓ | exa | time: 53.737 ms | iters: 5 | obj: 9.110069e-04 (min) | CPU: 396.55 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 82.889 ms | iters: 5 | obj: 9.110279e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 262.047 ms | iters: 5 | obj: 9.110279e-04 (min) | CPU: 51.49 MiB
│ │ ✓ | exa | time: 106.545 ms | iters: 5 | obj: 9.110279e-04 (min) | CPU: 763.73 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 219.068 ms | iters: 5 | obj: 9.110337e-04 (min) | CPU: 11.95 KiB
│ │ ✓ | adnlp | time: 686.375 ms | iters: 5 | obj: 9.110337e-04 (min) | CPU: 128.64 MiB
│ │ ✓ | exa | time: 275.823 ms | iters: 5 | obj: 9.110337e-04 (min) | CPU: 1.82 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 8.894 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 2.93 MiB
│ │ ✓ | adnlp | time: 18.931 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 7.10 MiB
│ │ ✓ | exa | time: 9.371 ms | iters: 5 | obj: 9.103362e-04 (min) | CPU: 3.03 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 22.033 ms | iters: 6 | obj: 9.109230e-04 (min) | CPU: 6.96 MiB
│ │ ✓ | adnlp | time: 53.831 ms | iters: 6 | obj: 9.109230e-04 (min) | CPU: 19.09 MiB
│ │ ✓ | exa | time: 23.957 ms | iters: 6 | obj: 9.109230e-04 (min) | CPU: 7.04 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 42.767 ms | iters: 6 | obj: 9.110069e-04 (min) | CPU: 11.58 MiB
│ │ ✓ | adnlp | time: 118.495 ms | iters: 6 | obj: 9.110069e-04 (min) | CPU: 37.69 MiB
│ │ ✓ | exa | time: 46.503 ms | iters: 6 | obj: 9.110069e-04 (min) | CPU: 13.58 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 144.758 ms | iters: 6 | obj: 9.110279e-04 (min) | CPU: 24.24 MiB
│ │ ✓ | adnlp | time: 379.282 ms | iters: 6 | obj: 9.110279e-04 (min) | CPU: 74.89 MiB
│ │ ✓ | exa | time: 204.748 ms | iters: 6 | obj: 9.110279e-04 (min) | CPU: 26.70 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 406.998 ms | iters: 6 | obj: 9.110337e-04 (min) | CPU: 55.60 MiB
│ │ ✓ | adnlp | time: 970.056 ms | iters: 6 | obj: 9.110337e-04 (min) | CPU: 186.51 MiB
│ │ ✓ | exa | time: 566.608 ms | iters: 6 | obj: 9.110337e-04 (min) | CPU: 66.02 MiB
│ └─
└─
┌─ Problem: electric_vehicle
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 6.626 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 9.83 KiB
│ │ ✓ | adnlp | time: 10.087 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 2.71 MiB
│ │ ✓ | exa | time: 5.073 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 58.31 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 14.879 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 10.09 KiB
│ │ ✓ | adnlp | time: 25.369 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 6.74 MiB
│ │ ✓ | exa | time: 10.073 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 107.38 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 27.305 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 10.09 KiB
│ │ ✓ | adnlp | time: 48.028 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 13.44 MiB
│ │ ✓ | exa | time: 18.673 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 189.56 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 59.167 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 10.09 KiB
│ │ ✓ | adnlp | time: 146.336 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 26.84 MiB
│ │ ✓ | exa | time: 35.680 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 353.62 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 181.097 ms | iters: 4 | obj: 1.228580e+03 (min) | CPU: 10.09 KiB
│ │ ✓ | adnlp | time: 409.911 ms | iters: 4 | obj: 1.228580e+03 (min) | CPU: 67.06 MiB
│ │ ✓ | exa | time: 90.130 ms | iters: 4 | obj: 1.228580e+03 (min) | CPU: 845.81 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 8.454 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 4.64 MiB
│ │ ✓ | adnlp | time: 9.563 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 3.86 MiB
│ │ ✓ | exa | time: 4.313 ms | iters: 4 | obj: 1.228699e+03 (min) | CPU: 1.65 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 19.636 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 10.71 MiB
│ │ ✓ | adnlp | time: 24.511 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 8.98 MiB
│ │ ✓ | exa | time: 9.184 ms | iters: 4 | obj: 1.228599e+03 (min) | CPU: 3.46 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 38.991 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 22.21 MiB
│ │ ✓ | adnlp | time: 62.680 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 17.52 MiB
│ │ ✓ | exa | time: 16.809 ms | iters: 4 | obj: 1.228585e+03 (min) | CPU: 6.47 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 105.114 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 42.46 MiB
│ │ ✓ | adnlp | time: 193.542 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 34.59 MiB
│ │ ✓ | exa | time: 60.883 ms | iters: 4 | obj: 1.228581e+03 (min) | CPU: 12.50 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 301.655 ms | iters: 4 | obj: 1.228580e+03 (min) | CPU: 108.22 MiB
│ │ ✓ | adnlp | time: 437.919 ms | iters: 4 | obj: 1.228580e+03 (min) | CPU: 85.82 MiB
│ │ ✓ | exa | time: 158.257 ms | iters: 4 | obj: 1.228580e+03 (min) | CPU: 30.57 MiB
│ └─
└─
┌─ Problem: glider
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 10.237 s | iters: 358 | obj: 1.248896e+03 (max) | CPU: 677.20 KiB
│ │ ✓ | adnlp | time: 8.878 s | iters: 399 | obj: 1.248896e+03 (max) | CPU: 388.40 MiB
│ │ ✓ | exa | time: 6.896 s | iters: 378 | obj: 1.248896e+03 (max) | CPU: 582.39 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 26.033 s | iters: 714 | obj: 1.247978e+03 (max) | CPU: 1.32 MiB
│ │ ✓ | adnlp | time: 17.037 s | iters: 751 | obj: 1.247978e+03 (max) | CPU: 1.76 GiB
│ │ ✓ | exa | time: 8.510 s | iters: 800 | obj: 1.247978e+03 (max) | CPU: 1.11 MiB
│ │
│ │ N = 1000
│ │ ✗ | jump | time: 80.074 s | iters: 1000 | obj: 4.602450e+02 (max) | CPU: 1.86 MiB
│ │ ✗ | adnlp | time: 78.818 s | iters: 1000 | obj: 4.557763e+02 (max) | CPU: 4.68 GiB
│ │ ✗ | exa | time: 27.527 s | iters: 1000 | obj: 4.531676e+02 (max) | CPU: 1.49 MiB
│ │
│ │ N = 2000
│ │ ✗ | jump | time: 181.467 s | iters: 1000 | obj: 6.565466e+02 (max) | CPU: 1.86 MiB
│ │ ✗ | adnlp | time: 177.448 s | iters: 1000 | obj: 7.116508e+02 (max) | CPU: 9.34 GiB
│ │ ✗ | exa | time: 71.432 s | iters: 1000 | obj: 6.720746e+02 (max) | CPU: 1.85 MiB
│ │
│ │ N = 5000
│ │ ✗ | jump | time: 400.459 s | iters: 733 | obj: 6.852640e+02 (max) | CPU: 1.36 MiB
│ │ ✗ | adnlp | time: 400.015 s | iters: 772 | obj: 6.631671e+02 (max) | CPU: 18.06 GiB
│ │ ✗ | exa | time: 223.114 s | iters: 1000 | obj: 6.714516e+02 (max) | CPU: 2.92 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 3.624 s | iters: 292 | obj: 1.248809e+03 (max) | CPU: 70.43 MiB
│ │ ✓ | adnlp | time: 2.139 s | iters: 282 | obj: 1.248809e+03 (max) | CPU: 307.45 MiB
│ │ ✓ | exa | time: 992.764 ms | iters: 296 | obj: 1.248809e+03 (max) | CPU: 31.46 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 29.912 s | iters: 692 | obj: 1.247978e+03 (max) | CPU: 255.62 MiB
│ │ ✓ | adnlp | time: 15.638 s | iters: 659 | obj: 1.247978e+03 (max) | CPU: 1.70 GiB
│ │ ✓ | exa | time: 5.316 s | iters: 664 | obj: 1.247978e+03 (max) | CPU: 148.39 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 55.902 s | iters: 720 | obj: 1.247985e+03 (max) | CPU: 513.68 MiB
│ │ ✓ | adnlp | time: 33.288 s | iters: 767 | obj: 1.247985e+03 (max) | CPU: 4.01 GiB
│ │ ✓ | exa | time: 10.915 s | iters: 704 | obj: 1.247985e+03 (max) | CPU: 306.62 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 40.419 s | iters: 218 | obj: 1.247987e+03 (max) | CPU: 636.28 MiB
│ │ ✓ | adnlp | time: 32.897 s | iters: 215 | obj: 1.247987e+03 (max) | CPU: 2.33 GiB
│ │ ✓ | exa | time: 21.895 s | iters: 562 | obj: 1.247987e+03 (max) | CPU: 559.88 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 161.950 s | iters: 395 | obj: 1.247988e+03 (max) | CPU: 1.87 GiB
│ │ ✓ | adnlp | time: 322.587 s | iters: 858 | obj: 1.247988e+03 (max) | CPU: 22.22 GiB
│ │ ✓ | exa | time: 52.215 s | iters: 475 | obj: 1.247988e+03 (max) | CPU: 1.08 GiB
│ └─
└─
┌─ Problem: insurance
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 466.118 ms | iters: 91 | obj: 2.058581e+00 (max) | CPU: 179.28 KiB
│ │ ✓ | adnlp | time: 642.744 ms | iters: 90 | obj: 2.058581e+00 (max) | CPU: 121.36 MiB
│ │ ✓ | exa | time: 354.264 ms | iters: 90 | obj: 2.058581e+00 (max) | CPU: 246.02 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 977.661 ms | iters: 89 | obj: 2.059208e+00 (max) | CPU: 168.92 KiB
│ │ ✓ | adnlp | time: 1.490 s | iters: 87 | obj: 2.059208e+00 (max) | CPU: 283.32 MiB
│ │ ✓ | exa | time: 883.976 ms | iters: 97 | obj: 2.059214e+00 (max) | CPU: 429.12 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 3.910 s | iters: 150 | obj: 2.059511e+00 (max) | CPU: 289.38 KiB
│ │ ✓ | adnlp | time: 5.458 s | iters: 140 | obj: 2.059511e+00 (max) | CPU: 909.61 MiB
│ │ ✓ | exa | time: 3.204 s | iters: 149 | obj: 2.059511e+00 (max) | CPU: 785.88 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 11.803 s | iters: 199 | obj: 2.059700e+00 (max) | CPU: 378.14 KiB
│ │ ✓ | adnlp | time: 22.773 s | iters: 193 | obj: 2.059700e+00 (max) | CPU: 2.44 GiB
│ │ ✓ | exa | time: 10.447 s | iters: 223 | obj: 2.059700e+00 (max) | CPU: 1.43 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 74.270 s | iters: 388 | obj: 2.059859e+00 (max) | CPU: 761.20 KiB
│ │ ✓ | adnlp | time: 111.444 s | iters: 350 | obj: 2.059854e+00 (max) | CPU: 11.16 GiB
│ │ ✓ | exa | time: 52.828 s | iters: 360 | obj: 2.059854e+00 (max) | CPU: 3.35 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 562.179 ms | iters: 120 | obj: 2.058581e+00 (max) | CPU: 36.15 MiB
│ │ ✓ | adnlp | time: 971.339 ms | iters: 120 | obj: 2.058581e+00 (max) | CPU: 200.56 MiB
│ │ ✓ | exa | time: 383.745 ms | iters: 120 | obj: 2.058581e+00 (max) | CPU: 26.53 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 3.442 s | iters: 254 | obj: 2.059213e+00 (max) | CPU: 152.45 MiB
│ │ ✓ | adnlp | time: 9.057 s | iters: 363 | obj: 2.059213e+00 (max) | CPU: 1.31 GiB
│ │ ✓ | exa | time: 2.567 s | iters: 264 | obj: 2.059213e+00 (max) | CPU: 118.57 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 13.130 s | iters: 494 | obj: 2.059510e+00 (max) | CPU: 468.95 MiB
│ │ ✓ | adnlp | time: 32.535 s | iters: 635 | obj: 2.059510e+00 (max) | CPU: 4.52 GiB
│ │ ✓ | exa | time: 13.550 s | iters: 646 | obj: 2.059510e+00 (max) | CPU: 550.25 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 12.598 s | iters: 171 | obj: 2.059697e+00 (max) | CPU: 416.27 MiB
│ │ ✓ | adnlp | time: 21.107 s | iters: 171 | obj: 2.059697e+00 (max) | CPU: 2.56 GiB
│ │ ✓ | exa | time: 7.930 s | iters: 171 | obj: 2.059697e+00 (max) | CPU: 321.91 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 135.338 s | iters: 810 | obj: 2.059855e+00 (max) | CPU: 3.47 GiB
│ │ ✓ | adnlp | time: 215.709 s | iters: 738 | obj: 2.059852e+00 (max) | CPU: 26.06 GiB
│ │ ✓ | exa | time: 86.660 s | iters: 767 | obj: 2.059845e+00 (max) | CPU: 3.08 GiB
│ └─
└─
┌─ Problem: jackson
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 77.738 ms | iters: 42 | obj: 1.918613e-01 (max) | CPU: 83.09 KiB
│ │ ✓ | adnlp | time: 111.343 ms | iters: 42 | obj: 1.918613e-01 (max) | CPU: 10.81 MiB
│ │ ✓ | exa | time: 84.642 ms | iters: 42 | obj: 1.918613e-01 (max) | CPU: 124.30 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 247.508 ms | iters: 58 | obj: 1.918219e-01 (max) | CPU: 111.28 KiB
│ │ ✓ | adnlp | time: 367.347 ms | iters: 58 | obj: 1.918219e-01 (max) | CPU: 36.19 MiB
│ │ ✓ | exa | time: 269.941 ms | iters: 58 | obj: 1.918219e-01 (max) | CPU: 226.61 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 147.509 ms | iters: 21 | obj: 1.918162e-01 (max) | CPU: 41.70 KiB
│ │ ✓ | adnlp | time: 270.937 ms | iters: 21 | obj: 1.918162e-01 (max) | CPU: 27.46 MiB
│ │ ✓ | exa | time: 150.010 ms | iters: 21 | obj: 1.918162e-01 (max) | CPU: 332.67 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 244.786 ms | iters: 19 | obj: 1.918148e-01 (max) | CPU: 37.98 KiB
│ │ ✓ | adnlp | time: 624.184 ms | iters: 19 | obj: 1.918148e-01 (max) | CPU: 50.03 MiB
│ │ ✓ | exa | time: 251.132 ms | iters: 19 | obj: 1.918148e-01 (max) | CPU: 619.67 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 658.537 ms | iters: 19 | obj: 1.918144e-01 (max) | CPU: 37.98 KiB
│ │ ✓ | adnlp | time: 2.135 s | iters: 19 | obj: 1.918144e-01 (max) | CPU: 124.94 MiB
│ │ ✓ | exa | time: 656.621 ms | iters: 19 | obj: 1.918144e-01 (max) | CPU: 1.45 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 51.953 ms | iters: 40 | obj: 1.918610e-01 (max) | CPU: 7.49 MiB
│ │ ✓ | adnlp | time: 92.495 ms | iters: 40 | obj: 1.918610e-01 (max) | CPU: 16.17 MiB
│ │ ✓ | exa | time: 54.203 ms | iters: 40 | obj: 1.918610e-01 (max) | CPU: 7.05 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 54.488 ms | iters: 22 | obj: 1.918217e-01 (max) | CPU: 12.70 MiB
│ │ ✓ | adnlp | time: 112.174 ms | iters: 22 | obj: 1.918217e-01 (max) | CPU: 23.31 MiB
│ │ ✓ | exa | time: 53.958 ms | iters: 22 | obj: 1.918217e-01 (max) | CPU: 11.59 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 109.004 ms | iters: 23 | obj: 1.918159e-01 (max) | CPU: 26.75 MiB
│ │ ✓ | adnlp | time: 300.091 ms | iters: 23 | obj: 1.918159e-01 (max) | CPU: 47.72 MiB
│ │ ✓ | exa | time: 111.085 ms | iters: 23 | obj: 1.918159e-01 (max) | CPU: 23.14 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 275.257 ms | iters: 23 | obj: 1.918142e-01 (max) | CPU: 46.29 MiB
│ │ ✓ | adnlp | time: 807.882 ms | iters: 23 | obj: 1.918142e-01 (max) | CPU: 94.82 MiB
│ │ ✓ | exa | time: 298.867 ms | iters: 23 | obj: 1.918142e-01 (max) | CPU: 45.70 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 773.577 ms | iters: 23 | obj: 1.918138e-01 (max) | CPU: 127.19 MiB
│ │ ✓ | adnlp | time: 2.724 s | iters: 23 | obj: 1.918138e-01 (max) | CPU: 236.42 MiB
│ │ ✓ | exa | time: 848.906 ms | iters: 23 | obj: 1.918138e-01 (max) | CPU: 113.69 MiB
│ └─
└─
┌─ Problem: robbins
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 26.831 ms | iters: 19 | obj: 1.962626e+01 (min) | CPU: 20.03 KiB
│ │ ✓ | adnlp | time: 37.527 ms | iters: 19 | obj: 1.962626e+01 (min) | CPU: 3.50 MiB
│ │ ✓ | exa | time: 26.479 ms | iters: 19 | obj: 1.962626e+01 (min) | CPU: 95.55 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 53.812 ms | iters: 18 | obj: 1.946663e+01 (min) | CPU: 18.41 KiB
│ │ ✓ | adnlp | time: 80.752 ms | iters: 18 | obj: 1.946663e+01 (min) | CPU: 8.08 MiB
│ │ ✓ | exa | time: 55.907 ms | iters: 18 | obj: 1.946663e+01 (min) | CPU: 180.92 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 143.101 ms | iters: 27 | obj: 1.944019e+01 (min) | CPU: 26.03 KiB
│ │ ✓ | adnlp | time: 241.462 ms | iters: 27 | obj: 1.944019e+01 (min) | CPU: 23.33 MiB
│ │ ✓ | exa | time: 146.147 ms | iters: 27 | obj: 1.944019e+01 (min) | CPU: 334.64 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 313.943 ms | iters: 30 | obj: 1.943391e+01 (min) | CPU: 28.56 KiB
│ │ ✓ | adnlp | time: 701.197 ms | iters: 30 | obj: 1.943391e+01 (min) | CPU: 51.38 MiB
│ │ ✓ | exa | time: 325.356 ms | iters: 30 | obj: 1.943391e+01 (min) | CPU: 626.80 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 1.269 s | iters: 36 | obj: 1.943213e+01 (min) | CPU: 34.41 KiB
│ │ ✓ | adnlp | time: 3.699 s | iters: 48 | obj: 1.943212e+01 (min) | CPU: 200.45 MiB
│ │ ✓ | exa | time: 1.073 s | iters: 37 | obj: 1.943212e+01 (min) | CPU: 1.47 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 29.363 ms | iters: 34 | obj: 1.962626e+01 (min) | CPU: 3.20 MiB
│ │ ✓ | adnlp | time: 49.292 ms | iters: 34 | obj: 1.962626e+01 (min) | CPU: 8.57 MiB
│ │ ✓ | exa | time: 28.954 ms | iters: 34 | obj: 1.962626e+01 (min) | CPU: 2.95 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 56.395 ms | iters: 29 | obj: 1.946663e+01 (min) | CPU: 6.36 MiB
│ │ ✓ | adnlp | time: 102.997 ms | iters: 31 | obj: 1.946663e+01 (min) | CPU: 19.03 MiB
│ │ ✓ | exa | time: 56.758 ms | iters: 29 | obj: 1.946663e+01 (min) | CPU: 5.98 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 182.123 ms | iters: 50 | obj: 1.944019e+01 (min) | CPU: 17.09 MiB
│ │ ✓ | adnlp | time: 365.345 ms | iters: 50 | obj: 1.944019e+01 (min) | CPU: 56.41 MiB
│ │ ✓ | exa | time: 181.830 ms | iters: 50 | obj: 1.944019e+01 (min) | CPU: 15.75 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 406.371 ms | iters: 43 | obj: 1.943392e+01 (min) | CPU: 28.73 MiB
│ │ ✓ | adnlp | time: 1.022 s | iters: 44 | obj: 1.943392e+01 (min) | CPU: 99.86 MiB
│ │ ✓ | exa | time: 446.429 ms | iters: 43 | obj: 1.943392e+01 (min) | CPU: 27.86 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 1.898 s | iters: 77 | obj: 1.943213e+01 (min) | CPU: 105.99 MiB
│ │ ✓ | adnlp | time: 4.849 s | iters: 77 | obj: 1.943213e+01 (min) | CPU: 415.00 MiB
│ │ ✓ | exa | time: 1.947 s | iters: 77 | obj: 1.943213e+01 (min) | CPU: 103.89 MiB
│ └─
└─
┌─ Problem: robot
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 116.437 ms | iters: 19 | obj: 9.141395e+00 (min) | CPU: 37.98 KiB
│ │ ✓ | adnlp | time: 142.201 ms | iters: 19 | obj: 9.141395e+00 (min) | CPU: 13.56 MiB
│ │ ✓ | exa | time: 79.687 ms | iters: 19 | obj: 9.141395e+00 (min) | CPU: 181.86 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 375.984 ms | iters: 22 | obj: 9.140990e+00 (min) | CPU: 43.56 KiB
│ │ ✓ | adnlp | time: 443.072 ms | iters: 22 | obj: 9.140990e+00 (min) | CPU: 38.52 MiB
│ │ ✓ | exa | time: 219.928 ms | iters: 22 | obj: 9.140990e+00 (min) | CPU: 374.58 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 1.400 s | iters: 33 | obj: 9.140932e+00 (min) | CPU: 65.58 KiB
│ │ ✓ | adnlp | time: 2.015 s | iters: 35 | obj: 9.140931e+00 (min) | CPU: 119.67 MiB
│ │ ✓ | exa | time: 705.407 ms | iters: 31 | obj: 9.140932e+00 (min) | CPU: 701.30 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 3.061 s | iters: 30 | obj: 9.140917e+00 (min) | CPU: 58.44 KiB
│ │ ✓ | adnlp | time: 4.814 s | iters: 30 | obj: 9.140917e+00 (min) | CPU: 205.28 MiB
│ │ ✓ | exa | time: 1.688 s | iters: 30 | obj: 9.140917e+00 (min) | CPU: 1.30 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 8.141 s | iters: 27 | obj: 9.140946e+00 (min) | CPU: 52.86 KiB
│ │ ✓ | adnlp | time: 12.440 s | iters: 27 | obj: 9.140946e+00 (min) | CPU: 464.24 MiB
│ │ ✓ | exa | time: 5.461 s | iters: 27 | obj: 9.140946e+00 (min) | CPU: 3.15 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 162.379 ms | iters: 25 | obj: 9.141397e+00 (min) | CPU: 24.28 MiB
│ │ ✓ | adnlp | time: 181.580 ms | iters: 23 | obj: 9.141397e+00 (min) | CPU: 23.19 MiB
│ │ ✓ | exa | time: 83.808 ms | iters: 23 | obj: 9.141397e+00 (min) | CPU: 8.24 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 545.902 ms | iters: 32 | obj: 9.140992e+00 (min) | CPU: 63.76 MiB
│ │ ✓ | adnlp | time: 896.162 ms | iters: 30 | obj: 9.140992e+00 (min) | CPU: 71.56 MiB
│ │ ✓ | exa | time: 267.521 ms | iters: 29 | obj: 9.140992e+00 (min) | CPU: 22.73 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 1.274 s | iters: 28 | obj: 9.140939e+00 (min) | CPU: 125.45 MiB
│ │ ✗ | adnlp : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│ │ ✓ | exa | time: 666.126 ms | iters: 28 | obj: 9.140939e+00 (min) | CPU: 43.46 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 4.088 s | iters: 38 | obj: 9.140931e+00 (min) | CPU: 268.46 MiB
│ │ ✓ | adnlp | time: 8.498 s | iters: 46 | obj: 9.140922e+00 (min) | CPU: 481.34 MiB
│ │ ✓ | exa | time: 3.363 s | iters: 53 | obj: 9.140922e+00 (min) | CPU: 189.93 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 13.760 s | iters: 45 | obj: 9.140950e+00 (min) | CPU: 739.11 MiB
│ │ ✓ | adnlp | time: 14.523 s | iters: 36 | obj: 9.140950e+00 (min) | CPU: 931.81 MiB
│ │ ✓ | exa | time: 8.545 s | iters: 45 | obj: 9.140950e+00 (min) | CPU: 325.36 MiB
│ └─
└─
┌─ Problem: rocket
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 56.627 ms | iters: 18 | obj: 1.012836e+00 (max) | CPU: 36.12 KiB
│ │ ✓ | adnlp | time: 82.967 ms | iters: 18 | obj: 1.012836e+00 (max) | CPU: 16.91 MiB
│ │ ✓ | exa | time: 32.418 ms | iters: 18 | obj: 1.012836e+00 (max) | CPU: 100.95 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 162.945 ms | iters: 21 | obj: 1.012837e+00 (max) | CPU: 41.70 KiB
│ │ ✓ | adnlp | time: 222.935 ms | iters: 21 | obj: 1.012837e+00 (max) | CPU: 48.36 MiB
│ │ ✓ | exa | time: 83.019 ms | iters: 21 | obj: 1.012837e+00 (max) | CPU: 190.67 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 429.059 ms | iters: 24 | obj: 1.012837e+00 (max) | CPU: 47.28 KiB
│ │ ✓ | adnlp | time: 571.222 ms | iters: 24 | obj: 1.012837e+00 (max) | CPU: 109.20 MiB
│ │ ✓ | exa | time: 184.010 ms | iters: 24 | obj: 1.012837e+00 (max) | CPU: 338.39 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 1.075 s | iters: 23 | obj: 1.012837e+00 (max) | CPU: 45.42 KiB
│ │ ✓ | adnlp | time: 1.488 s | iters: 23 | obj: 1.012837e+00 (max) | CPU: 209.72 MiB
│ │ ✓ | exa | time: 394.673 ms | iters: 23 | obj: 1.012837e+00 (max) | CPU: 626.42 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 3.120 s | iters: 23 | obj: 1.012837e+00 (max) | CPU: 45.42 KiB
│ │ ✓ | adnlp | time: 6.012 s | iters: 23 | obj: 1.012837e+00 (max) | CPU: 523.95 MiB
│ │ ✓ | exa | time: 1.185 s | iters: 23 | obj: 1.012837e+00 (max) | CPU: 1.46 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 66.121 ms | iters: 21 | obj: 1.012835e+00 (max) | CPU: 19.98 MiB
│ │ ✓ | adnlp | time: 81.890 ms | iters: 21 | obj: 1.012835e+00 (max) | CPU: 23.15 MiB
│ │ ✓ | exa | time: 26.603 ms | iters: 21 | obj: 1.012835e+00 (max) | CPU: 4.72 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 189.119 ms | iters: 22 | obj: 1.012835e+00 (max) | CPU: 49.96 MiB
│ │ ✓ | adnlp | time: 213.679 ms | iters: 22 | obj: 1.012835e+00 (max) | CPU: 59.15 MiB
│ │ ✓ | exa | time: 66.024 ms | iters: 22 | obj: 1.012835e+00 (max) | CPU: 11.18 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 505.775 ms | iters: 24 | obj: 1.012836e+00 (max) | CPU: 99.21 MiB
│ │ ✓ | adnlp | time: 535.103 ms | iters: 24 | obj: 1.012836e+00 (max) | CPU: 126.97 MiB
│ │ ✓ | exa | time: 146.967 ms | iters: 24 | obj: 1.012836e+00 (max) | CPU: 22.71 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 1.067 s | iters: 21 | obj: 1.012830e+00 (max) | CPU: 195.09 MiB
│ │ ✓ | adnlp | time: 2.332 s | iters: 21 | obj: 1.012830e+00 (max) | CPU: 225.06 MiB
│ │ ✓ | exa | time: 313.484 ms | iters: 21 | obj: 1.012830e+00 (max) | CPU: 42.07 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 3.640 s | iters: 24 | obj: 1.012831e+00 (max) | CPU: 491.51 MiB
│ │ ✓ | adnlp | time: 6.172 s | iters: 24 | obj: 1.012831e+00 (max) | CPU: 631.77 MiB
│ │ ✓ | exa | time: 1.084 s | iters: 24 | obj: 1.012831e+00 (max) | CPU: 111.20 MiB
│ └─
└─
┌─ Problem: space_shuttle
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 6.816 s | iters: 192 | obj: 3.848491e-01 (max) | CPU: 363.95 KiB
│ │ ✓ | adnlp | time: 1.843 s | iters: 125 | obj: 3.853783e-01 (max) | CPU: 213.22 MiB
│ │ ✓ | exa | time: 949.593 ms | iters: 125 | obj: 3.853783e-01 (max) | CPU: 333.86 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 10.911 s | iters: 115 | obj: 5.958750e-01 (max) | CPU: 216.48 KiB
│ │ ✓ | adnlp | time: 4.630 s | iters: 109 | obj: 5.958750e-01 (max) | CPU: 463.15 MiB
│ │ ✓ | exa | time: 2.035 s | iters: 109 | obj: 5.958750e-01 (max) | CPU: 490.80 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 35.155 s | iters: 172 | obj: 3.035711e-01 (max) | CPU: 325.89 KiB
│ │ ✓ | adnlp | time: 75.345 s | iters: 231 | obj: 3.050197e-01 (max) | CPU: 1.91 GiB
│ │ ✓ | exa | time: 12.989 s | iters: 171 | obj: 3.050197e-01 (max) | CPU: 846.48 KiB
│ │
│ │ N = 2000
│ │ ✗ | jump | time: 400.242 s | iters: 949 | obj: -1.191634e-01 (max) | CPU: 2.34 MiB
│ │ ✗ | adnlp | time: 402.093 s | iters: 649 | obj: 3.606880e-01 (max) | CPU: 11.25 GiB
│ │ ✗ | exa | time: 406.668 s | iters: 382 | obj: -2.007651e-01 (max) | CPU: 1.63 MiB
│ │
│ │ N = 5000
│ │ ✗ | jump | time: 915.766 s | iters: 115 | obj: 6.142435e-02 (max) | CPU: 221.47 KiB
│ │ ✗ | adnlp | time: 400.204 s | iters: 282 | obj: 5.496788e-02 (max) | CPU: 12.32 GiB
│ │ ✗ | exa | time: 400.291 s | iters: 167 | obj: 7.670488e-01 (max) | CPU: 3.09 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 3.287 s | iters: 114 | obj: 3.853794e-01 (max) | CPU: 148.56 MiB
│ │ ✓ | adnlp | time: 2.582 s | iters: 149 | obj: 3.854934e-01 (max) | CPU: 302.38 MiB
│ │ ✓ | exa | time: 851.353 ms | iters: 149 | obj: 3.854934e-01 (max) | CPU: 44.96 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 7.753 s | iters: 77 | obj: 5.958750e-01 (max) | CPU: 343.37 MiB
│ │ ✓ | adnlp | time: 13.353 s | iters: 140 | obj: 5.958750e-01 (max) | CPU: 692.77 MiB
│ │ ✓ | exa | time: 1.844 s | iters: 140 | obj: 5.958750e-01 (max) | CPU: 100.33 MiB
│ │
│ │ N = 1000
│ │ ✗ | jump | time: 120.899 s | iters: 370 | obj: 1.409004e-01 (max) | CPU: 1.29 GiB
│ │ ✓ | adnlp | time: 58.017 s | iters: 370 | obj: 3.050197e-01 (max) | CPU: 4.21 GiB
│ │ ✓ | exa | time: 13.154 s | iters: 291 | obj: 3.050197e-01 (max) | CPU: 518.10 MiB
│ │
│ │ N = 2000
│ │ ✗ | jump | time: 401.550 s | iters: 568 | obj: 1.356048e-01 (max) | CPU: 3.42 GiB
│ │ ✗ | adnlp : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│ │ ✗ | exa | time: 17.617 s | iters: 181 | obj: 3.316539e-01 (max) | CPU: 530.24 MiB
│ │
│ │ N = 5000
│ │ ✗ | jump | time: 191.986 s | iters: 177 | obj: -7.336941e-01 (max) | CPU: 4.10 GiB
│ │ ✗ | adnlp | time: 184.082 s | iters: 182 | obj: 4.407037e-01 (max) | CPU: 9.49 GiB
│ │ ✗ | exa | time: 33.946 s | iters: 139 | obj: 5.235457e-02 (max) | CPU: 1.15 GiB
│ └─
└─
┌─ Problem: steering
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 39.697 ms | iters: 12 | obj: 5.545770e-01 (min) | CPU: 25.36 KiB
│ │ ✓ | adnlp | time: 50.842 ms | iters: 12 | obj: 5.545770e-01 (min) | CPU: 6.94 MiB
│ │ ✓ | exa | time: 31.704 ms | iters: 12 | obj: 5.545770e-01 (min) | CPU: 106.84 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 133.230 ms | iters: 17 | obj: 5.545719e-01 (min) | CPU: 34.66 KiB
│ │ ✓ | adnlp | time: 160.833 ms | iters: 17 | obj: 5.545719e-01 (min) | CPU: 23.39 MiB
│ │ ✓ | exa | time: 106.105 ms | iters: 17 | obj: 5.545719e-01 (min) | CPU: 222.38 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 312.375 ms | iters: 18 | obj: 5.545711e-01 (min) | CPU: 36.52 KiB
│ │ ✓ | adnlp | time: 392.555 ms | iters: 18 | obj: 5.545711e-01 (min) | CPU: 49.13 MiB
│ │ ✓ | exa | time: 228.696 ms | iters: 18 | obj: 5.545711e-01 (min) | CPU: 406.78 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 935.208 ms | iters: 18 | obj: 5.545709e-01 (min) | CPU: 36.52 KiB
│ │ ✓ | adnlp | time: 1.215 s | iters: 18 | obj: 5.545709e-01 (min) | CPU: 98.13 MiB
│ │ ✓ | exa | time: 637.615 ms | iters: 18 | obj: 5.545709e-01 (min) | CPU: 773.97 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 2.862 s | iters: 19 | obj: 5.545709e-01 (min) | CPU: 38.38 KiB
│ │ ✓ | adnlp | time: 3.884 s | iters: 19 | obj: 5.545709e-01 (min) | CPU: 257.43 MiB
│ │ ✓ | exa | time: 1.977 s | iters: 19 | obj: 5.545709e-01 (min) | CPU: 1.83 MiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 41.774 ms | iters: 14 | obj: 5.545770e-01 (min) | CPU: 9.38 MiB
│ │ ✓ | adnlp | time: 44.938 ms | iters: 14 | obj: 5.545770e-01 (min) | CPU: 10.39 MiB
│ │ ✓ | exa | time: 26.484 ms | iters: 14 | obj: 5.545770e-01 (min) | CPU: 2.89 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 107.161 ms | iters: 15 | obj: 5.545719e-01 (min) | CPU: 23.25 MiB
│ │ ✓ | adnlp | time: 131.952 ms | iters: 15 | obj: 5.545719e-01 (min) | CPU: 26.48 MiB
│ │ ✓ | exa | time: 69.338 ms | iters: 15 | obj: 5.545719e-01 (min) | CPU: 6.56 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 246.272 ms | iters: 15 | obj: 5.545711e-01 (min) | CPU: 44.78 MiB
│ │ ✓ | adnlp | time: 357.365 ms | iters: 15 | obj: 5.545711e-01 (min) | CPU: 52.36 MiB
│ │ ✓ | exa | time: 153.722 ms | iters: 15 | obj: 5.545711e-01 (min) | CPU: 12.58 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 715.595 ms | iters: 14 | obj: 5.545709e-01 (min) | CPU: 86.02 MiB
│ │ ✓ | adnlp | time: 962.571 ms | iters: 14 | obj: 5.545709e-01 (min) | CPU: 98.64 MiB
│ │ ✓ | exa | time: 423.808 ms | iters: 14 | obj: 5.545709e-01 (min) | CPU: 24.05 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 2.332 s | iters: 17 | obj: 5.545709e-01 (min) | CPU: 222.58 MiB
│ │ ✓ | adnlp | time: 3.750 s | iters: 17 | obj: 5.545709e-01 (min) | CPU: 286.90 MiB
│ │ ✓ | exa | time: 1.302 s | iters: 17 | obj: 5.545709e-01 (min) | CPU: 63.65 MiB
│ └─
└─
┌─ Problem: vanderpol
│
├──┬ Solver: ipopt, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 5.499 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 8.02 KiB
│ │ ✓ | adnlp | time: 8.240 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 955.22 KiB
│ │ ✓ | exa | time: 4.155 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 53.44 KiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 11.173 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 8.23 KiB
│ │ ✓ | adnlp | time: 20.320 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 2.30 MiB
│ │ ✓ | exa | time: 8.416 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 102.50 KiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 21.068 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 8.23 KiB
│ │ ✓ | adnlp | time: 56.511 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 4.58 MiB
│ │ ✓ | exa | time: 15.307 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 184.69 KiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 48.024 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 8.23 KiB
│ │ ✓ | adnlp | time: 177.392 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 9.13 MiB
│ │ ✓ | exa | time: 30.576 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 348.75 KiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 145.210 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 8.23 KiB
│ │ ✓ | adnlp | time: 490.433 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 22.80 MiB
│ │ ✓ | exa | time: 83.611 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 840.94 KiB
│ └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│ │
│ │ N = 200
│ │ ✓ | jump | time: 7.792 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 4.55 MiB
│ │ ✓ | adnlp | time: 7.338 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 2.02 MiB
│ │ ✓ | exa | time: 3.653 ms | iters: 3 | obj: 1.047836e+00 (min) | CPU: 1.65 MiB
│ │
│ │ N = 500
│ │ ✓ | jump | time: 17.285 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 10.52 MiB
│ │ ✓ | adnlp | time: 17.524 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 4.40 MiB
│ │ ✓ | exa | time: 7.634 ms | iters: 3 | obj: 1.047812e+00 (min) | CPU: 3.47 MiB
│ │
│ │ N = 1000
│ │ ✓ | jump | time: 36.732 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 21.94 MiB
│ │ ✓ | adnlp | time: 50.073 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 8.38 MiB
│ │ ✓ | exa | time: 14.199 ms | iters: 3 | obj: 1.047808e+00 (min) | CPU: 6.51 MiB
│ │
│ │ N = 2000
│ │ ✓ | jump | time: 92.328 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 43.07 MiB
│ │ ✓ | adnlp | time: 178.462 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 16.34 MiB
│ │ ✓ | exa | time: 55.273 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 12.59 MiB
│ │
│ │ N = 5000
│ │ ✓ | jump | time: 273.739 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 107.10 MiB
│ │ ✓ | adnlp | time: 357.471 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 40.22 MiB
│ │ ✓ | exa | time: 153.803 ms | iters: 3 | obj: 1.047807e+00 (min) | CPU: 30.82 MiB
│ └─
└─