2020-05-08 12:02:12.630469 lqr_integrate_cost_trajopt_failure_case.py.log

/Users/skainswo/dev/jax/jax/lib/xla_bridge.py:116: UserWarning: No GPU/TPU found, falling back to CPU.
  warnings.warn('No GPU/TPU found, falling back to CPU.')
opt_cost_fwd = 4.999999046325684, opt_cost_bwd = 2.480832099914551 in 3.0865352153778076s
[3.4355838e-09 1.7177919e-09]
[1.4196247  0.70981234]
l2 error: 0.64887934923172
Episode 0:
  excess fwd cost = 4433.6806640625
  bwd cost        = -0.00036362005630508065
  bwd x0 - x0     = [-5.0067902e-06  2.7418137e-06]
  fwd xT          = [-18.23771   19.609293]
  fwd xT norm sq. = 717.1384887695312
  elapsed         = 9.440975904464722s
Episode 1:
  excess fwd cost = 2414.2080078125
  bwd cost        = -0.003976716194301844
  bwd x0 - x0     = [-1.1205673e-05  1.0728836e-05]
  fwd xT          = [-13.286568  10.83102 ]
  fwd xT norm sq. = 293.8438720703125
  elapsed         = 0.026827096939086914s
Episode 2:
  excess fwd cost = 978.572021484375
  bwd cost        = 0.000850033073220402
  bwd x0 - x0     = [ 4.5299530e-06 -4.2915344e-06]
  fwd xT          = [-5.0759606 -3.0983973]
  fwd xT norm sq. = 35.365440368652344
  elapsed         = 0.03938484191894531s
Episode 3:
  excess fwd cost = 638.9349365234375
  bwd cost        = -0.0014253611443564296
  bwd x0 - x0     = [ 9.536743e-07 -1.668930e-06]
  fwd xT          = [ 3.0668972 -6.535607 ]
  fwd xT norm sq. = 52.12001419067383
  elapsed         = 0.034822702407836914s
Episode 4:
  excess fwd cost = 596.6362915039062
  bwd cost        = -0.00039554378599859774
  bwd x0 - x0     = [4.7683716e-07 4.7683716e-07]
  fwd xT          = [ 6.60776   -7.2236733]
  fwd xT norm sq. = 95.84394836425781
  elapsed         = 0.027399063110351562s
Episode 5:
  excess fwd cost = 591.2402954101562
  bwd cost        = 8.887634612619877e-05
  bwd x0 - x0     = [ 2.1457672e-06 -2.4437904e-06]
  fwd xT          = [ 7.661504  -6.6715755]
  fwd xT norm sq. = 103.20855712890625
  elapsed         = 0.04132676124572754s
Episode 6:
  excess fwd cost = 560.5917358398438
  bwd cost        = 0.0014475849457085133
  bwd x0 - x0     = [-2.3841858e-07 -2.0861626e-06]
  fwd xT          = [ 7.7265925 -5.4349055]
  fwd xT norm sq. = 89.23843383789062
  elapsed         = 0.035909175872802734s
Episode 7:
  excess fwd cost = 506.8153991699219
  bwd cost        = 0.0005397359491325915
  bwd x0 - x0     = [ 1.0967255e-05 -1.0788441e-05]
  fwd xT          = [ 7.2825327 -3.8685467]
  fwd xT norm sq. = 68.00093841552734
  elapsed         = 0.039106130599975586s
Episode 8:
  excess fwd cost = 442.6976318359375
  bwd cost        = 0.00010282648145221174
  bwd x0 - x0     = [-2.2649765e-06  1.1920929e-06]
  fwd xT          = [ 6.524426 -2.29671 ]
  fwd xT norm sq. = 47.84300994873047
  elapsed         = 0.030642032623291016s
Episode 9:
  excess fwd cost = 378.64654541015625
  bwd cost        = 6.115850555943325e-05
  bwd x0 - x0     = [ 5.00679e-06 -5.00679e-06]
  fwd xT          = [ 5.5780153 -0.9483429]
  fwd xT norm sq. = 32.01361083984375
  elapsed         = 0.04029202461242676s
Episode 10:
  excess fwd cost = 320.24322509765625
  bwd cost        = -0.0005017887451685965
  bwd x0 - x0     = [-3.337860e-06  4.529953e-06]
  fwd xT          = [4.5136857  0.09381027]
  fwd xT norm sq. = 20.382158279418945
  elapsed         = 0.029629945755004883s
Episode 11:
  excess fwd cost = 269.6427001953125
  bwd cost        = 0.0001585867430549115
  bwd x0 - x0     = [ 3.337860e-06 -3.993511e-06]
  fwd xT          = [3.3808198  0.84394693]
  fwd xT norm sq. = 12.142189025878906
  elapsed         = 0.03337717056274414s
Episode 12:
  excess fwd cost = 227.43576049804688
  bwd cost        = -0.00013258190301712602
  bwd x0 - x0     = [-1.3113022e-06 -1.1920929e-07]
  fwd xT          = [2.2756245 1.3285081]
  fwd xT norm sq. = 6.9434003829956055
  elapsed         = 0.02678990364074707s
Episode 13:
  excess fwd cost = 193.2466278076172
  bwd cost        = 4.753349276143126e-05
  bwd x0 - x0     = [-1.4066696e-05  8.4638596e-06]
  fwd xT          = [1.3114718 1.5748456]
  fwd xT norm sq. = 4.20009708404541
  elapsed         = 0.044046878814697266s
Episode 14:
  excess fwd cost = 165.9762420654297
  bwd cost        = -7.634679786860943e-05
  bwd x0 - x0     = [2.3841858e-07 0.0000000e+00]
  fwd xT          = [0.5588691 1.6346344]
  fwd xT norm sq. = 2.9843642711639404
  elapsed         = 0.030217885971069336s
Episode 15:
  excess fwd cost = 144.2540283203125
  bwd cost        = 0.00014902766270097345
  bwd x0 - x0     = [ 1.3113022e-05 -1.0073185e-05]
  fwd xT          = [0.0280974 1.5736109]
  fwd xT norm sq. = 2.4770407676696777
  elapsed         = 0.034775733947753906s
Episode 16:
  excess fwd cost = 126.82124328613281
  bwd cost        = 8.222331962315366e-05
  bwd x0 - x0     = [-4.7683716e-06  2.8610229e-06]
  fwd xT          = [-0.31404424  1.4477062 ]
  fwd xT norm sq. = 2.194477081298828
  elapsed         = 0.04455280303955078s
Episode 17:
  excess fwd cost = 112.68049621582031
  bwd cost        = 0.0004169352469034493
  bwd x0 - x0     = [ 1.1920929e-06 -3.7550926e-06]
  fwd xT          = [-0.515464   1.2950497]
  fwd xT norm sq. = 1.942856788635254
  elapsed         = 0.03525519371032715s
Episode 18:
  excess fwd cost = 101.0862808227539
  bwd cost        = 1.947976852534339e-05
  bwd x0 - x0     = [-4.2915344e-06  3.6954880e-06]
  fwd xT          = [-0.62002987  1.1385847 ]
  fwd xT norm sq. = 1.680812120437622
  elapsed         = 0.034853219985961914s
Episode 19:
  excess fwd cost = 91.48777770996094
  bwd cost        = 6.018375279381871e-05
  bwd x0 - x0     = [-2.503395e-06  8.344650e-07]
  fwd xT          = [-0.6613101   0.99063236]
  fwd xT norm sq. = 1.4186835289001465
  elapsed         = 0.03776407241821289s
Episode 20:
  excess fwd cost = 83.4735336303711
  bwd cost        = -7.978006578923669e-06
  bwd x0 - x0     = [-5.4836273e-06  3.6954880e-06]
  fwd xT          = [-0.66295934  0.85684115]
  fwd xT norm sq. = 1.1736918687820435
  elapsed         = 0.03821396827697754s
Episode 21:
  excess fwd cost = 76.73058319091797
  bwd cost        = 9.484091424383223e-05
  bwd x0 - x0     = [-6.9141388e-06  3.5762787e-06]
  fwd xT          = [-0.640877    0.73895824]
  fwd xT norm sq. = 0.9567825794219971
  elapsed         = 0.02253890037536621s
Episode 22:
  excess fwd cost = 71.01675415039062
  bwd cost        = -2.4121774913510308e-05
  bwd x0 - x0     = [ 4.7683716e-07 -1.7881393e-07]
  fwd xT          = [-0.6054702   0.63664865]
  fwd xT norm sq. = 0.7719156742095947
  elapsed         = 0.03909587860107422s
Episode 23:
  excess fwd cost = 66.14268493652344
  bwd cost        = 6.323238631011918e-05
  bwd x0 - x0     = [-1.4305115e-06 -1.2516975e-06]
  fwd xT          = [-0.56339216  0.5485825 ]
  fwd xT norm sq. = 0.6183534860610962
  elapsed         = 0.03980898857116699s
Episode 24:
  excess fwd cost = 61.958457946777344
  bwd cost        = -0.0002041353436652571
  bwd x0 - x0     = [ 8.821487e-06 -5.722046e-06]
  fwd xT          = [-0.51879793  0.4730737 ]
  fwd xT norm sq. = 0.4929500222206116
  elapsed         = 0.042897939682006836s
Episode 25:
  excess fwd cost = 58.344905853271484
  bwd cost        = -0.00010516932525206357
  bwd x0 - x0     = [ 1.21593475e-05 -6.73532486e-06]
  fwd xT          = [-0.47421828  0.40838704]
  fwd xT norm sq. = 0.39166295528411865
  elapsed         = 0.05564594268798828s
Episode 26:
  excess fwd cost = 55.20578384399414
  bwd cost        = 8.375753532163799e-05
  bwd x0 - x0     = [-1.2040138e-05  7.5101852e-06]
  fwd xT          = [-0.43112585  0.35291633]
  fwd xT norm sq. = 0.3104194402694702
  elapsed         = 0.041863203048706055s
Episode 27:
  excess fwd cost = 52.4636116027832
  bwd cost        = 0.0001326190249528736
  bwd x0 - x0     = [-1.6331673e-05  8.3446503e-06]
  fwd xT          = [-0.39032146  0.30524108]
  fwd xT norm sq. = 0.24552296102046967
  elapsed         = 0.030037879943847656s
Episode 28:
  excess fwd cost = 50.05569076538086
  bwd cost        = 5.074110231362283e-05
  bwd x0 - x0     = [-4.7683716e-07  1.1920929e-07]
  fwd xT          = [-0.35218972  0.26413882]
  fwd xT norm sq. = 0.19380691647529602
  elapsed         = 0.03020000457763672s
Episode 29:
  excess fwd cost = 47.930381774902344
  bwd cost        = -3.466169800958596e-05
  bwd x0 - x0     = [ 7.1525574e-07 -7.7486038e-07]
  fwd xT          = [-0.31685194  0.22857407]
  fwd xT norm sq. = 0.15264126658439636
  elapsed         = 0.03129720687866211s
Episode 30:
  excess fwd cost = 46.045772552490234
  bwd cost        = 0.00014050710888113827
  bwd x0 - x0     = [-1.7046928e-05  9.1791153e-06]
  fwd xT          = [-0.2842773   0.19767824]
  fwd xT norm sq. = 0.11989026516675949
  elapsed         = 0.029977798461914062s
Episode 31:
  excess fwd cost = 44.36670684814453
  bwd cost        = -0.00010844337521120906
  bwd x0 - x0     = [ 1.4305115e-05 -7.5697899e-06]
  fwd xT          = [-0.25434336  0.17072964]
  fwd xT norm sq. = 0.09383915364742279
  elapsed         = 0.03408169746398926s
Episode 32:
  excess fwd cost = 42.86437225341797
  bwd cost        = 9.098007467400748e-06
  bwd x0 - x0     = [ 2.3841858e-06 -2.3245811e-06]
  fwd xT          = [-0.22688219  0.14712472]
  fwd xT norm sq. = 0.07312121242284775
  elapsed         = 0.023421049118041992s
Episode 33:
  excess fwd cost = 41.51456069946289
  bwd cost        = -4.038035694975406e-05
  bwd x0 - x0     = [-4.6491623e-06  3.6954880e-06]
  fwd xT          = [-0.2017046   0.12636487]
  fwd xT norm sq. = 0.05665282905101776
  elapsed         = 0.03275299072265625s
Episode 34:
  excess fwd cost = 40.29684066772461
  bwd cost        = -0.00014530781481880695
  bwd x0 - x0     = [ 7.8678131e-06 -3.2186508e-06]
  fwd xT          = [-0.17861669  0.10803004]
  fwd xT norm sq. = 0.043574411422014236
  elapsed         = 0.04041910171508789s
Episode 35:
  excess fwd cost = 39.1943359375
  bwd cost        = 3.0148781661409885e-05
  bwd x0 - x0     = [-6.6757202e-06  2.6226044e-06]
  fwd xT          = [-0.15743008  0.09177222]
  fwd xT norm sq. = 0.03320637345314026
  elapsed         = 0.027966976165771484s
Episode 36:
  excess fwd cost = 38.19227600097656
  bwd cost        = 6.424080766009865e-06
  bwd x0 - x0     = [ 4.7683716e-07 -2.3841858e-07]
  fwd xT          = [-0.13796513  0.07730229]
  fwd xT norm sq. = 0.025010021403431892
  elapsed         = 0.07500720024108887s
Episode 37:
  excess fwd cost = 37.27840805053711
  bwd cost        = 0.00012347858864814043
  bwd x0 - x0     = [-1.4305115e-05  6.0796738e-06]
  fwd xT          = [-0.12005656  0.06437215]
  fwd xT norm sq. = 0.01855735294520855
  elapsed         = 0.04473590850830078s
Episode 38:
  excess fwd cost = 36.442138671875
  bwd cost        = -4.1324241465190426e-05
  bwd x0 - x0     = [9.5367432e-07 2.3841858e-07]
  fwd xT          = [-0.10355197  0.05277927]
  fwd xT norm sq. = 0.013508661650121212
  elapsed         = 0.040036916732788086s
Episode 39:
  excess fwd cost = 35.674407958984375
  bwd cost        = 4.281457586330362e-05
  bwd x0 - x0     = [-7.3909760e-06  4.4107437e-06]
  fwd xT          = [-0.08831382  0.0423443 ]
  fwd xT norm sq. = 0.009592370130121708
  elapsed         = 0.03787875175476074s
Episode 40:
  excess fwd cost = 34.967288970947266
  bwd cost        = 7.932206790428609e-05
  bwd x0 - x0     = [-1.2516975e-05  6.0796738e-06]
  fwd xT          = [-0.07421579  0.03292185]
  fwd xT norm sq. = 0.006591831799596548
  elapsed         = 0.0354008674621582s
Episode 41:
  excess fwd cost = 34.314125061035156
  bwd cost        = 8.296375017380342e-05
  bwd x0 - x0     = [-9.2983246e-06  4.7683716e-06]
  fwd xT          = [-0.06114713  0.02438434]
  fwd xT norm sq. = 0.004333568271249533
  elapsed         = 0.033315181732177734s
Episode 42:
  excess fwd cost = 33.70890426635742
  bwd cost        = 1.1069082574977074e-05
  bwd x0 - x0     = [-5.2452087e-06  4.2915344e-06]
  fwd xT          = [-0.04900599  0.01662632]
  fwd xT norm sq. = 0.0026780213229358196
  elapsed         = 0.029833078384399414s
Episode 43:
  excess fwd cost = 33.146488189697266
  bwd cost        = 1.751014315232169e-05
  bwd x0 - x0     = [-2.5033951e-06  1.1920929e-06]
  fwd xT          = [-0.03770227  0.00954989]
  fwd xT norm sq. = 0.0015126613434404135
  elapsed         = 0.03327512741088867s
Episode 44:
  excess fwd cost = 32.62240982055664
  bwd cost        = -3.3918084227479994e-05
  bwd x0 - x0     = [ 5.9604645e-06 -2.9802322e-06]
  fwd xT          = [-0.02715517  0.00307947]
  fwd xT norm sq. = 0.0007468863041140139
  elapsed         = 0.03175091743469238s
Episode 45:
  excess fwd cost = 32.13275146484375
  bwd cost        = -3.265638224547729e-05
  bwd x0 - x0     = [ 6.4373016e-06 -3.5166740e-06]
  fwd xT          = [-0.01729256 -0.00285523]
  fwd xT norm sq. = 0.0003071848477702588
  elapsed         = 0.031952857971191406s
Episode 46:
  excess fwd cost = 31.67401885986328
  bwd cost        = 9.116360888583586e-05
  bwd x0 - x0     = [-1.3351440e-05  6.7949295e-06]
  fwd xT          = [-0.00804984 -0.00831582]
  fwd xT norm sq. = 0.00013395267887972295
  elapsed         = 0.035826921463012695s
Episode 47:
  excess fwd cost = 31.24310302734375
  bwd cost        = 2.1569801901932806e-05
  bwd x0 - x0     = [ 9.059906e-06 -5.066395e-06]
  fwd xT          = [ 0.00063136 -0.01335132]
  fwd xT norm sq. = 0.00017865627887658775
  elapsed         = 0.03789710998535156s
Episode 48:
  excess fwd cost = 30.83730697631836
  bwd cost        = -7.845729123800993e-05
  bwd x0 - x0     = [ 1.7166138e-05 -8.9406967e-06]
  fwd xT          = [ 0.00880232 -0.01800954]
  fwd xT norm sq. = 0.00040182421798817813
  elapsed         = 0.027708053588867188s
Episode 49:
  excess fwd cost = 30.45425796508789
  bwd cost        = -5.562108344747685e-05
  bwd x0 - x0     = [ 1.04904175e-05 -5.54323196e-06]
  fwd xT          = [ 0.0165098  -0.02232964]
  fwd xT norm sq. = 0.0007711865473538637
  elapsed         = 0.030406713485717773s