Core GPU Benchmark

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

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.

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
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  [d8fb68d0] xkbcommon_jll v1.9.2+0
  [0dad84c5] ArgTools v1.1.2
  [56f22d72] Artifacts v1.11.0
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  [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
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  [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
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  [4607b0f0] SuiteSparse
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  [4ec0a83e] Unicode v1.11.0
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  [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`

Benchmarks results:

┌─ Problem: beam
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  60.927 ms | iters: 22    | obj: 8.889006e+00  (min) | CPU:   8.45 MiB
│  │  ✓ | exa_gpu  | time: 153.209 ms | iters: 25    | obj: 8.827707e+00  (min) | CPU:  9.171 MiB | GPU: 11.901 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time: 315.917 ms | iters: 17    | obj: 8.888990e+00  (min) | CPU:  34.86 MiB
│  │  ✓ | exa_gpu  | time: 203.646 ms | iters: 31    | obj: 8.586481e+00  (min) | CPU: 12.994 MiB | GPU: 61.717 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time: 715.055 ms | iters: 18    | obj: 8.889088e+00  (min) | CPU:  71.26 MiB
│  │  ✓ | exa_gpu  | time: 211.004 ms | iters: 22    | obj: 8.291850e+00  (min) | CPU: 12.801 MiB | GPU: 116.519 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time:   1.212 s  | iters: 13    | obj: 8.889279e+00  (min) | CPU: 121.36 MiB
│  │  ✓ | exa_gpu  | time: 295.685 ms | iters: 20    | obj: 7.725138e+00  (min) | CPU: 17.206 MiB | GPU: 229.899 MiB
│  └─
└─

┌─ Problem: chain
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  31.824 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:   6.74 MiB
│  │  ✓ | exa_gpu  | time: 102.389 ms | iters: 13    | obj: 5.065447e+00  (min) | CPU:  6.462 MiB | GPU: 19.022 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time: 295.466 ms | iters: 5     | obj: 5.068475e+00  (min) | CPU:  31.13 MiB
│  │  ✓ | exa_gpu  | time: 160.252 ms | iters: 16    | obj: 5.053179e+00  (min) | CPU: 11.572 MiB | GPU: 96.378 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time: 652.048 ms | iters: 5     | obj: 5.068449e+00  (min) | CPU:  61.82 MiB
│  │  ✓ | exa_gpu  | time:   2.289 s  | iters: 255   | obj: 5.037608e+00  (min) | CPU: 122.226 MiB | GPU: 416.406 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time:   1.504 s  | iters: 5     | obj: 5.068381e+00  (min) | CPU: 123.19 MiB
│  │  ✓ | exa_gpu  | time: 289.988 ms | iters: 10    | obj: 5.005905e+00  (min) | CPU: 23.876 MiB | GPU: 374.863 MiB
│  └─
└─

┌─ Problem: double_oscillator
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  42.285 ms | iters: 5     | obj: 9.110070e-04  (min) | CPU:  13.30 MiB
│  │  ✓ | exa_gpu  | time:  80.925 ms | iters: 8     | obj: 8.386344e-04  (min) | CPU:  6.156 MiB | GPU: 37.826 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time: 500.520 ms | iters: 5     | obj: 9.110369e-04  (min) | CPU:  64.60 MiB
│  │  ✓ | exa_gpu  | time: 107.351 ms | iters: 4     | obj: 9.079947e-04  (min) | CPU: 13.688 MiB | GPU: 186.410 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time:   1.187 s  | iters: 5     | obj: 9.110439e-04  (min) | CPU: 128.74 MiB
│  │  ✓ | exa_gpu  | time: 192.048 ms | iters: 4     | obj: 9.048850e-04  (min) | CPU: 24.682 MiB | GPU: 372.791 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time:   2.436 s  | iters: 5     | obj: 9.110587e-04  (min) | CPU: 257.00 MiB
│  │  ✓ | exa_gpu  | time: 281.855 ms | iters: 4     | obj: 8.986602e-04  (min) | CPU: 46.575 MiB | GPU: 745.534 MiB
│  └─
└─

┌─ Problem: electric_vehicle
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  14.110 ms | iters: 3     | obj: 1.228585e+03  (min) | CPU:   6.35 MiB
│  │  ✓ | exa_gpu  | time:  85.244 ms | iters: 11    | obj: 1.227994e+03  (min) | CPU:  5.932 MiB | GPU: 17.560 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time: 134.786 ms | iters: 3     | obj: 1.228581e+03  (min) | CPU:  29.99 MiB
│  │  ✓ | exa_gpu  | time: 100.971 ms | iters: 12    | obj: 1.225635e+03  (min) | CPU: 10.411 MiB | GPU: 88.029 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time: 291.415 ms | iters: 3     | obj: 1.228580e+03  (min) | CPU:  59.53 MiB
│  │  ✓ | exa_gpu  | time: 122.904 ms | iters: 12    | obj: 1.222695e+03  (min) | CPU: 15.529 MiB | GPU: 176.041 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time: 620.227 ms | iters: 3     | obj: 1.228580e+03  (min) | CPU: 118.61 MiB
│  │  ✓ | exa_gpu  | time: 147.379 ms | iters: 12    | obj: 1.216825e+03  (min) | CPU: 25.722 MiB | GPU: 352.017 MiB
│  └─
└─

┌─ Problem: glider
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  11.804 s  | iters: 734   | obj: 1.247985e+03  (max) | CPU: 318.62 MiB
│  │  ✗ | exa_gpu  | time:  15.341 s  | iters: 1000  | obj: 4.426857e+02  (max) | CPU: 885.274 MiB | GPU: 225.864 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time:  64.440 s  | iters: 522   | obj: 1.247987e+03  (max) | CPU:   1.16 GiB
│  │  ✗ | exa_gpu  | time:  49.406 s  | iters: 1000  | obj: 1.466538e+02  (max) | CPU: 839.929 MiB | GPU:  1.120 GiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time: 119.143 s  | iters: 459   | obj: 1.247987e+03  (max) | CPU:   2.02 GiB
│  │  ✗ | exa_gpu  | time:  81.876 s  | iters: 1000  | obj: 5.772447e+02  (max) | CPU:  1.142 GiB | GPU:  2.136 GiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time: 481.829 s  | iters: 889   | obj: 1.247987e+03  (max) | CPU:   7.40 GiB
│  │  ✗ | exa_gpu  | time: 168.571 s  | iters: 1000  | obj: 1.677944e+02  (max) | CPU: 940.681 MiB | GPU:  4.458 GiB
│  └─
└─

┌─ Problem: insurance
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  10.683 s  | iters: 538   | obj: 2.059433e+00  (max) | CPU: 462.87 MiB
│  │  ✓ | exa_gpu  | time: 583.339 ms | iters: 61    | obj: 1.175172e+00  (max) | CPU: 28.462 MiB | GPU: 57.504 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time:  90.842 s  | iters: 752   | obj: 2.059534e+00  (max) | CPU:   3.20 GiB
│  │  ✓ | exa_gpu  | time:   3.760 s  | iters: 240   | obj: 1.173337e+00  (max) | CPU: 111.790 MiB | GPU: 586.527 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time: 150.342 s  | iters: 558   | obj: 2.059237e+00  (max) | CPU:   4.81 GiB
│  │  ✓ | exa_gpu  | time:   9.027 s  | iters: 282   | obj: 1.171076e+00  (max) | CPU: 138.526 MiB | GPU:  1.296 GiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time: 398.139 s  | iters: 636   | obj: 2.058537e+00  (max) | CPU:  12.56 GiB
│  │  ✓ | exa_gpu  | time:   4.027 s  | iters: 76    | obj: 1.166456e+00  (max) | CPU: 71.554 MiB | GPU:  1.216 GiB
│  └─
└─

┌─ Problem: jackson
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  94.581 ms | iters: 20    | obj: 1.918046e-01  (max) | CPU:  21.63 MiB
│  │  ✓ | exa_gpu  | time: 237.568 ms | iters: 31    | obj: -7.511061e-07 (max) | CPU: 13.234 MiB | GPU: 34.912 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time: 831.018 ms | iters: 19    | obj: 1.917600e-01  (max) | CPU: 103.29 MiB
│  │  ✓ | exa_gpu  | time: 244.894 ms | iters: 22    | obj: -3.468065e-07 (max) | CPU: 17.820 MiB | GPU: 167.117 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time:   1.460 s  | iters: 18    | obj: 1.917093e-01  (max) | CPU: 200.21 MiB
│  │  ✓ | exa_gpu  | time: 296.599 ms | iters: 23    | obj: -7.464148e-07 (max) | CPU: 27.899 MiB | GPU: 335.868 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time:   3.131 s  | iters: 18    | obj: 1.916118e-01  (max) | CPU: 399.88 MiB
│  │  ✓ | exa_gpu  | time: 483.652 ms | iters: 22    | obj: 5.098141e-07  (max) | CPU: 46.379 MiB | GPU: 667.967 MiB
│  └─
└─

┌─ Problem: robbins
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time: 166.847 ms | iters: 47    | obj: 1.944023e+01  (min) | CPU:  15.11 MiB
│  │  ✓ | exa_gpu  | time: 199.737 ms | iters: 25    | obj: 1.942160e+01  (min) | CPU: 10.044 MiB | GPU: 17.509 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time:   1.870 s  | iters: 63    | obj: 1.943235e+01  (min) | CPU:  89.39 MiB
│  │  ✓ | exa_gpu  | time: 941.778 ms | iters: 107   | obj: 1.934096e+01  (min) | CPU: 39.933 MiB | GPU: 130.364 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time:   2.971 s  | iters: 43    | obj: 1.943232e+01  (min) | CPU: 136.58 MiB
│  │  ✓ | exa_gpu  | time: 919.525 ms | iters: 88    | obj: 1.925063e+01  (min) | CPU: 37.539 MiB | GPU: 240.557 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time:   8.392 s  | iters: 60    | obj: 1.943274e+01  (min) | CPU: 342.63 MiB
│  │  ✓ | exa_gpu  | time:   2.669 s  | iters: 203   | obj: 1.907192e+01  (min) | CPU: 82.771 MiB | GPU: 719.887 MiB
│  └─
└─

┌─ Problem: robot
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time: 670.342 ms | iters: 27    | obj: 9.141204e+00  (min) | CPU:  42.55 MiB
│  │  ✓ | exa_gpu  | time: 605.148 ms | iters: 30    | obj: 9.123238e+00  (min) | CPU: 18.596 MiB | GPU: 66.837 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time:   7.799 s  | iters: 41    | obj: 9.142359e+00  (min) | CPU: 307.02 MiB
│  │  ✓ | exa_gpu  | time:   1.554 s  | iters: 27    | obj: 9.053093e+00  (min) | CPU: 29.249 MiB | GPU: 329.227 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time:  19.260 s  | iters: 47    | obj: 9.143634e+00  (min) | CPU: 754.05 MiB
│  │  ✓ | exa_gpu  | time:   3.424 s  | iters: 32    | obj: 8.965878e+00  (min) | CPU: 47.575 MiB | GPU: 672.443 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time:  30.712 s  | iters: 40    | obj: 9.146361e+00  (min) | CPU:   1.22 GiB
│  │  ✓ | exa_gpu  | time:   8.714 s  | iters: 45    | obj: 8.792951e+00  (min) | CPU: 86.743 MiB | GPU:  1.383 GiB
│  └─
└─

┌─ Problem: rocket
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time: 114.080 ms | iters: 18    | obj: 1.012710e+00  (max) | CPU:  19.97 MiB
│  │  ✓ | exa_gpu  | time: 597.681 ms | iters: 47    | obj: 1.000000e+00  (max) | CPU: 20.368 MiB | GPU: 43.579 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time: 722.219 ms | iters: 18    | obj: 1.012223e+00  (max) | CPU:  97.64 MiB
│  │  ✓ | exa_gpu  | time: 788.905 ms | iters: 27    | obj: 1.000007e+00  (max) | CPU: 21.799 MiB | GPU: 201.423 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time:   1.531 s  | iters: 17    | obj: 1.011682e+00  (max) | CPU: 190.76 MiB
│  │  ✓ | exa_gpu  | time:   1.221 s  | iters: 24    | obj: 1.000001e+00  (max) | CPU: 31.664 MiB | GPU: 397.830 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time:   3.067 s  | iters: 17    | obj: 1.010835e+00  (max) | CPU: 380.97 MiB
│  │  ✓ | exa_gpu  | time:   2.267 s  | iters: 26    | obj: 9.999998e-01  (max) | CPU: 54.037 MiB | GPU: 801.869 MiB
│  └─
└─

┌─ Problem: space_shuttle
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  13.092 s  | iters: 340   | obj: 3.050195e-01  (max) | CPU: 599.43 MiB
│  │  ✓ | exa_gpu  | time:   9.046 s  | iters: 357   | obj: -5.684795e-02 (max) | CPU: 275.328 MiB | GPU: 287.866 MiB
│  │
│  │  N = 5000
│  │  ✗ | exa      | time:  66.140 s  | iters: 301   | obj: -9.202651e-01 (max) | CPU:   1.95 GiB
│  │  ✗ | exa_gpu  | time:  18.225 s  | iters: 227   | obj: -3.241132e-02 (max) | CPU: 267.598 MiB | GPU:  1.209 GiB
│  │
│  │  N = 10000
│  │  ✗ | exa      | time:  89.671 s  | iters: 185   | obj: 2.310158e-01  (max) | CPU:   2.92 GiB
│  │  ✗ | exa_gpu  | time:  23.550 s  | iters: 173   | obj: 6.211275e-01  (max) | CPU: 255.220 MiB | GPU:  2.208 GiB
│  │
│  │  N = 20000
│  │  ✗ | exa      | time: 150.487 s  | iters: 147   | obj: 6.185205e-01  (max) | CPU:   4.85 GiB
│  │  ✗ | exa_gpu  | time:  59.246 s  | iters: 237   | obj: -2.626773e-02 (max) | CPU: 434.485 MiB | GPU:  4.781 GiB
│  └─
└─

┌─ Problem: steering
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time: 148.500 ms | iters: 15    | obj: 5.545711e-01  (min) | CPU:  12.58 MiB
│  │  ✓ | exa_gpu  | time: 230.025 ms | iters: 14    | obj: 5.545599e-01  (min) | CPU:  8.121 MiB | GPU: 27.359 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time:   1.217 s  | iters: 16    | obj: 5.545709e-01  (min) | CPU:  62.15 MiB
│  │  ✓ | exa_gpu  | time: 803.835 ms | iters: 16    | obj: 5.545179e-01  (min) | CPU: 14.270 MiB | GPU: 138.008 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time:   2.899 s  | iters: 18    | obj: 5.545709e-01  (min) | CPU: 129.56 MiB
│  │  ✓ | exa_gpu  | time:   1.241 s  | iters: 16    | obj: 5.544658e-01  (min) | CPU: 21.188 MiB | GPU: 275.910 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time:  11.629 s  | iters: 34    | obj: 5.545709e-01  (min) | CPU: 351.46 MiB
│  │  ✓ | exa_gpu  | time:   2.848 s  | iters: 19    | obj: 5.543620e-01  (min) | CPU: 36.274 MiB | GPU: 559.601 MiB
│  └─
└─

┌─ Problem: vanderpol
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 1000
│  │  ✓ | exa      | time:  13.887 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   6.51 MiB
│  │  ✓ | exa_gpu  | time:  73.763 ms | iters: 7     | obj: 1.045639e+00  (min) | CPU:  4.411 MiB | GPU: 17.544 MiB
│  │
│  │  N = 5000
│  │  ✓ | exa      | time: 139.288 ms | iters: 3     | obj: 1.047807e+00  (min) | CPU:  30.82 MiB
│  │  ✓ | exa_gpu  | time:  86.509 ms | iters: 7     | obj: 1.036994e+00  (min) | CPU:  8.678 MiB | GPU: 87.681 MiB
│  │
│  │  N = 10000
│  │  ✓ | exa      | time: 299.883 ms | iters: 3     | obj: 1.047807e+00  (min) | CPU:  61.20 MiB
│  │  ✓ | exa_gpu  | time: 106.654 ms | iters: 7     | obj: 1.026238e+00  (min) | CPU: 13.949 MiB | GPU: 175.349 MiB
│  │
│  │  N = 20000
│  │  ✓ | exa      | time: 557.317 ms | iters: 2     | obj: 1.047731e+00  (min) | CPU: 119.67 MiB
│  │  ✓ | exa_gpu  | time: 216.146 ms | iters: 7     | obj: 1.004888e+00  (min) | CPU: 24.455 MiB | GPU: 350.659 MiB
│  └─
└─