edantec

What I meant by random guess is that for a fixed (random) guess, two repetitions of a ddp.solve won't give the same decrease in cost as it is expected with...

I have the same issue with DDP, FDDP, and BoxFDDP.

Here is an example of how I write my code generated problem. https://github.com/edantec/crocoddyl/blob/benchmark/benchmark/talos_cppad.cpp However I couldn't make this branch compile on my machine due to an error of type `undefined...

I have added `talos_cppad.cpp` in `SET(${PROJECT_NAME}_CODEGEN_BENCHMARK )` inside `benchmarks/CMakelists.txt` but still the same error. On closer analysis, one iteration of code-generated ddp.solve produces derivatives of the cost and dynamics (Lxx,...

Yes there is. I've simplified the problem to consider the 4 DoF Talos arm without contact and I have the same randomness issue. I could backtrack the error until: https://github.com/edantec/crocoddyl/blob/2d62f18b06c233133f45062918f99385b6fd8438/include/crocoddyl/core/codegen/action-base.hpp#L212...

Just for illustration, I've written a simple example highlighting the problem here on a side branch: https://github.com/edantec/crocoddyl/blob/benchmark/benchmark/talos_cppad.cpp When I execute this benchmark several time, the computed cost for classical DDP...

I've created one single CG per node: https://github.com/edantec/crocoddyl/blob/9fd6dbe2d87a8327efd7cc1441134c48e273b741/benchmark/talos_cppad.cpp#L176 Now the result of codegen ddp is no more random, but it is still different from the result of classical DDP. This...