Core benchmark: jackson

This page presents benchmark results for the jackson problem across different platforms and configurations.

Note

The linear solver is MUMPS for all experiments.

Ubuntu Latest CPU

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       : runnervmg1sw1

You 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`

📈 Time vs Grid Size (Ubuntu Latest CPU)

🔁 Iterations vs CPU time (Ubuntu Latest CPU)

🧭 Solution: N = 200 (Ubuntu Latest CPU)

🧭 Solution: N = 500 (Ubuntu Latest CPU)

🧭 Solution: N = 1000 (Ubuntu Latest CPU)

🧭 Solution: N = 2000 (Ubuntu Latest CPU)

📊 Table of Results (Ubuntu Latest CPU)

Problem: `jackson`

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	102.863	42	0.191861	max
✓	200	`adnlp`	`madnlp`	79.628	40	0.191861	max
✓	200	`exa`	`ipopt`	81.094	42	0.191861	max
✓	200	`exa`	`madnlp`	51.225	40	0.191861	max
✓	200	`jump`	`ipopt`	75.083	42	0.191861	max
✓	200	`jump`	`madnlp`	48.491	40	0.191861	max	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	329.261	58	0.191822	max
✓	500	`adnlp`	`madnlp`	93.002	22	0.191822	max
✓	500	`exa`	`ipopt`	254.786	58	0.191822	max
✓	500	`exa`	`madnlp`	49.110	22	0.191822	max
✓	500	`jump`	`ipopt`	242.362	58	0.191822	max
✓	500	`jump`	`madnlp`	47.256	22	0.191822	max	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	220.467	21	0.191816	max
✓	1000	`adnlp`	`madnlp`	231.239	23	0.191816	max
✓	1000	`exa`	`ipopt`	141.741	21	0.191816	max
✓	1000	`exa`	`madnlp`	100.397	23	0.191816	max
✓	1000	`jump`	`ipopt`	137.077	21	0.191816	max
✓	1000	`jump`	`madnlp`	98.250	23	0.191816	max	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	527.107	19	0.191815	max
✓	2000	`adnlp`	`madnlp`	666.568	23	0.191814	max
✓	2000	`exa`	`ipopt`	235.875	19	0.191815	max
✓	2000	`exa`	`madnlp`	265.660	23	0.191814	max
✓	2000	`jump`	`ipopt`	230.133	19	0.191815	max	✓
✓	2000	`jump`	`madnlp`	235.532	23	0.191814	max

ℹ️ Log

Benchmarks results:

┌─ 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
│  └─
└─

Moonshot CPU

Results 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       : moonshot

You 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`

📈 Time vs Grid Size (Moonshot CPU)

🔁 Iterations vs CPU time (Moonshot CPU)

🧭 Solution: N = 200 (Moonshot CPU)

🧭 Solution: N = 500 (Moonshot CPU)

🧭 Solution: N = 1000 (Moonshot CPU)

🧭 Solution: N = 2000 (Moonshot CPU)

🧭 Solution: N = 5000 (Moonshot CPU)

📊 Table of Results (Moonshot CPU)

Problem: `jackson`

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	111.343	42	0.191861	max
✓	200	`adnlp`	`madnlp`	92.495	40	0.191861	max
✓	200	`exa`	`ipopt`	84.642	42	0.191861	max
✓	200	`exa`	`madnlp`	54.203	40	0.191861	max
✓	200	`jump`	`ipopt`	77.738	42	0.191861	max
✓	200	`jump`	`madnlp`	51.953	40	0.191861	max	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	367.347	58	0.191822	max
✓	500	`adnlp`	`madnlp`	112.174	22	0.191822	max
✓	500	`exa`	`ipopt`	269.941	58	0.191822	max
✓	500	`exa`	`madnlp`	53.958	22	0.191822	max	✓
✓	500	`jump`	`ipopt`	247.508	58	0.191822	max
✓	500	`jump`	`madnlp`	54.488	22	0.191822	max

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	270.937	21	0.191816	max
✓	1000	`adnlp`	`madnlp`	300.091	23	0.191816	max
✓	1000	`exa`	`ipopt`	150.010	21	0.191816	max
✓	1000	`exa`	`madnlp`	111.085	23	0.191816	max
✓	1000	`jump`	`ipopt`	147.509	21	0.191816	max
✓	1000	`jump`	`madnlp`	109.004	23	0.191816	max	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	624.184	19	0.191815	max
✓	2000	`adnlp`	`madnlp`	807.882	23	0.191814	max
✓	2000	`exa`	`ipopt`	251.132	19	0.191815	max
✓	2000	`exa`	`madnlp`	298.867	23	0.191814	max
✓	2000	`jump`	`ipopt`	244.786	19	0.191815	max	✓
✓	2000	`jump`	`madnlp`	275.257	23	0.191814	max

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	5000	`adnlp`	`ipopt`	2135.350	19	0.191814	max
✓	5000	`adnlp`	`madnlp`	2723.679	23	0.191814	max
✓	5000	`exa`	`ipopt`	656.621	19	0.191814	max	✓
✓	5000	`exa`	`madnlp`	848.906	23	0.191814	max
✓	5000	`jump`	`ipopt`	658.537	19	0.191814	max
✓	5000	`jump`	`madnlp`	773.577	23	0.191814	max

ℹ️ Log

Benchmarks results:

┌─ 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
│  └─
└─

Moonshot GPU

Results on self-hosted GPU hardware.

⚙️ Configuration

Problems: beam, chain, double_oscillator, electric_vehicle, glider, insurance, jackson, robbins, robot, rocket, space_shuttle, steering, vanderpol
Solvers: madnlp
Models: exa, exa_gpu
Grid sizes: 1000, 5000, 10000, 20000 discretization points
Discretization: trapeze method
Tolerance: 1.0e-6
Ipopt strategy: adaptive barrier parameter
Limits: 1000 iterations max, 1000.0s wall time

🖥️ Environment

📅 Timestamp     : 2025-11-17 22:08:51 UTC
🔧 Julia version : 1.11.7
💻 OS            : Linux
🖥️ Machine       : moonshot

You 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`

📈 Time vs Grid Size (Moonshot GPU)

🔁 Iterations vs CPU time (Moonshot GPU)

🧭 Solution: N = 1000 (Moonshot GPU)

🧭 Solution: N = 5000 (Moonshot GPU)

🧭 Solution: N = 10000 (Moonshot GPU)

🧭 Solution: N = 20000 (Moonshot GPU)

📊 Table of Results (Moonshot GPU)

Problem: `jackson`

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`exa`	`madnlp`	94.581	20	0.191805	max	✓
✓	1000	`exa_gpu`	`madnlp`	237.568	31	-0.000001	max

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	5000	`exa`	`madnlp`	831.018	19	0.191760	max
✓	5000	`exa_gpu`	`madnlp`	244.894	22	-0.000000	max	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	10000	`exa`	`madnlp`	1460.379	18	0.191709	max
✓	10000	`exa_gpu`	`madnlp`	296.599	23	-0.000001	max	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	20000	`exa`	`madnlp`	3131.030	18	0.191612	max
✓	20000	`exa_gpu`	`madnlp`	483.652	22	0.000001	max	✓

ℹ️ Log

Benchmarks results:

┌─ 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
│  └─
└─