curobo.opt package¶
Optimization module containing several numerical solvers.
Base for an opimization solver is at opt_base.Optimizer. cuRobo provides two base classes
for implementing two popular ways to optimize, (1) using particles
with particle.particle_opt_base.ParticleOptBase and (2) using Newton/Quasi-Newton solvers
with newton.newton_base.NewtonOptBase. newton.newton_base.NewtonOptBase contains
implementations of several line search schemes. Note that these line search schemes are approximate
as cuRobo tries different line search magnitudes in parallel and chooses the largest that satisfies
line search conditions.
Subpackages¶
- curobo.opt.newton package
- curobo.opt.particle package
Submodules¶
- curobo.opt.opt_base module
OptimizerConfigOptimizerConfig.d_actionOptimizerConfig.action_lowsOptimizerConfig.action_highsOptimizerConfig.action_horizonOptimizerConfig.horizonOptimizerConfig.n_itersOptimizerConfig.cold_start_n_itersOptimizerConfig.rollout_fnOptimizerConfig.tensor_argsOptimizerConfig.use_cuda_graphOptimizerConfig.store_debugOptimizerConfig.debug_infoOptimizerConfig.n_problemsOptimizerConfig.num_particlesOptimizerConfig.sync_cuda_timeOptimizerConfig.use_coo_sparseOptimizerConfig.create_data_dict
OptimizerOptimizer.optimizeOptimizer.update_paramsOptimizer.resetOptimizer.update_nproblemsOptimizer.get_nproblem_tensorOptimizer.reset_seedOptimizer.reset_cuda_graphOptimizer.reset_shapeOptimizer.get_all_rollout_instancesOptimizer._optimizeOptimizer._shiftOptimizer._update_problem_kernelOptimizer.create_data_dictOptimizer.d_actionOptimizer.action_lowsOptimizer.action_highsOptimizer.action_horizonOptimizer.horizonOptimizer.n_itersOptimizer.cold_start_n_itersOptimizer.rollout_fnOptimizer.tensor_argsOptimizer.use_cuda_graphOptimizer.store_debugOptimizer.debug_infoOptimizer.n_problemsOptimizer.num_particlesOptimizer.sync_cuda_timeOptimizer.use_coo_sparse