Benchmark Results - Problem C2 - Initialization Strategies
Tested Initialization strategies:
name |
class |
params |
Constraint-aware |
|---|---|---|---|
fast |
InitFast | False | |
ros(u) |
InitRandomOneShot | uniform=True ignore_constraints=False |
True |
ros(nu) |
InitRandomOneShot | uniform=False ignore_constraints=False |
True |
ros(u,uncon) |
InitRandomOneShot | uniform=True ignore_constraints=True |
False |
ros(nu,uncon) |
InitRandomOneShot | uniform=False ignore_constraints=True |
False |
rb(2) |
InitRandomBatched | b=2 ignore_constraints=False |
True |
rb(4) |
InitRandomBatched | b=4 ignore_constraints=False |
True |
rb(8) |
InitRandomBatched | b=8 ignore_constraints=False |
True |
rb(16) |
InitRandomBatched | b=16 ignore_constraints=False |
True |
e(2) |
InitEager | nc=2 ignore_constraints=False |
True |
e(4) |
InitEager | nc=4 ignore_constraints=False |
True |
e(8) |
InitEager | nc=8 ignore_constraints=False |
True |
e(16) |
InitEager | nc=16 ignore_constraints=False |
True |
Time Duration
d |
n |
k |
m |
fast |
ros(u) |
ros(nu) |
ros(u,uncon) |
ros(nu,uncon) |
rb(2) |
rb(4) |
rb(8) |
rb(16) |
e(2) |
e(4) |
e(8) |
e(16) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 2 | 100 | 10 | 2 | 36.04 μsec ± 4.7% | 43.85 μsec ± 4.5% | 42.35 μsec ± 5.6% | 35.58 μsec ± 5.5% | 34.23 μsec ± 2.6% | 66.38 μsec ± 3.7% | 88.56 μsec ± 6.2% | 137.2 μsec ± 2.6% | 155.7 μsec ± 3.9% | 389.2 μsec ± 3.4% | 631.8 μsec ± 2.0% | 1.101 msec ± 1.9% | 2.068 msec ± 2.2% |
| 2 | 200 | 20 | 4 | 62.60 μsec ± 3.7% | 78.27 μsec ± 2.3% | 78.33 μsec ± 2.9% | 62.46 μsec ± 5.7% | 63.27 μsec ± 1.4% | 105.0 μsec ± 4.5% | 132.8 μsec ± 5.3% | 183.1 μsec ± 5.7% | 282.5 μsec ± 7.3% | 832.6 μsec ± 2.6% | 1.328 msec ± 2.2% | 2.311 msec ± 1.2% | 4.381 msec ± 1.4% |
| 2 | 300 | 30 | 6 | 96.71 μsec ± 2.8% | 121.4 μsec ± 2.2% | 126.6 μsec ± 9.4% | 89.00 μsec ± 2.5% | 92.94 μsec ± 1.1% | 154.7 μsec ± 6.1% | 178.9 μsec ± 5.7% | 233.3 μsec ± 5.4% | 349.8 μsec ± 3.8% | 1.373 msec ± 3.8% | 2.079 msec ± 1.4% | 3.717 msec ± 2.2% | 6.989 msec ± 2.4% |
| 2 | 400 | 40 | 8 | 130.1 μsec ± 5.2% | 171.7 μsec ± 5.5% | 171.0 μsec ± 2.8% | 120.8 μsec ± 1.6% | 123.3 μsec ± 6.0% | 213.5 μsec ± 4.1% | 229.3 μsec ± 4.5% | 283.2 μsec ± 3.8% | 430.8 μsec ± 5.2% | 1.844 msec ± 4.3% | 3.014 msec ± 2.8% | 5.203 msec ± 1.3% | 9.782 msec ± 0.7% |
| 2 | 600 | 60 | 12 | 221.0 μsec ± 3.1% | 295.5 μsec ± 1.9% | 293.4 μsec ± 2.7% | 194.6 μsec ± 4.8% | 200.9 μsec ± 4.7% | 333.0 μsec ± 4.4% | 353.2 μsec ± 2.1% | 428.0 μsec ± 2.4% | 593.1 μsec ± 6.8% | 3.118 msec ± 3.2% | 4.911 msec ± 1.3% | 8.781 msec ± 1.7% | 16.24 msec ± 1.3% |
| 2 | 800 | 80 | 16 | 319.9 μsec ± 6.9% | 447.0 μsec ± 2.1% | 447.5 μsec ± 4.1% | 268.0 μsec ± 7.3% | 274.5 μsec ± 6.8% | 489.4 μsec ± 4.7% | 523.8 μsec ± 5.2% | 612.0 μsec ± 6.1% | 750.6 μsec ± 6.3% | 4.537 msec ± 3.3% | 7.277 msec ± 1.2% | 12.85 msec ± 1.9% | 23.60 msec ± 1.1% |
| 2 | 1200 | 120 | 24 | 587.0 μsec ± 3.4% | 854.1 μsec ± 6.8% | 850.0 μsec ± 11.4% | 476.1 μsec ± 7.3% | 505.5 μsec ± 9.8% | 933.1 μsec ± 3.7% | 974.2 μsec ± 3.8% | 1.080 msec ± 7.1% | 1.241 msec ± 6.8% | 7.848 msec ± 1.1% | 12.85 msec ± 1.4% | 22.42 msec ± 1.4% | 42.26 msec ± 1.9% |
| 2 | 1600 | 160 | 32 | 915.2 μsec ± 5.5% | 1.503 msec ± 13.7% | 1.468 msec ± 8.6% | 778.8 μsec ± 6.7% | 910.8 μsec ± 16.3% | 1.635 msec ± 7.1% | 1.659 msec ± 4.6% | 1.714 msec ± 4.2% | 1.943 msec ± 7.4% | 11.98 msec ± 1.6% | 19.94 msec ± 2.4% | 35.11 msec ± 2.7% | 63.56 msec ± 2.1% |
| 2 | 2400 | 240 | 48 | 1.632 msec ± 0.5% | 3.174 msec ± 6.7% | 2.919 msec ± 4.4% | 1.594 msec ± 6.4% | 1.737 msec ± 7.1% | 3.109 msec ± 2.7% | 3.188 msec ± 5.1% | 3.271 msec ± 1.5% | 3.527 msec ± 0.9% | 22.10 msec ± 2.3% | 35.42 msec ± 0.9% | 66.98 msec ± 3.6% | 122.5 msec ± 2.8% |
| 2 | 3200 | 320 | 64 | 2.664 msec ± 0.3% | 5.748 msec ± 3.1% | 5.461 msec ± 2.9% | 2.951 msec ± 5.5% | 2.782 msec ± 4.3% | 5.563 msec ± 1.1% | 5.676 msec ± 3.5% | 5.653 msec ± 1.6% | 6.223 msec ± 5.4% | 34.49 msec ± 1.0% | 58.58 msec ± 2.0% | 105.2 msec ± 1.3% | 198.1 msec ± 0.9% |
| 2 | 4800 | 480 | 96 | 5.241 msec ± 2.0% | 12.76 msec ± 0.4% | 13.20 msec ± 1.5% | 7.093 msec ± 1.1% | 7.071 msec ± 4.2% | 13.15 msec ± 0.5% | 13.22 msec ± 0.6% | 13.51 msec ± 0.3% | 14.02 msec ± 0.1% | 74.17 msec ± 0.6% | 124.8 msec ± 0.6% | 226.8 msec ± 0.5% | 432.5 msec ± 0.3% |
| 2 | 6400 | 640 | 128 | 8.422 msec ± 0.3% | 25.37 msec ± 0.5% | 26.63 msec ± 0.1% | 15.35 msec ± 0.4% | 15.85 msec ± 1.6% | 26.13 msec ± 0.2% | 27.03 msec ± 1.2% | 27.42 msec ± 0.4% | 28.36 msec ± 2.8% | 137.1 msec ± 0.1% | 233.7 msec ± 0.2% | 430.6 msec ± 0.4% | 812.4 msec ± 0.7% |
| Geomean: | 493.1 μsec ± 3.2% | 802.8 μsec ± 4.1% | 797.3 μsec ± 4.6% | 498.7 μsec ± 4.6% | 514.1 μsec ± 5.5% | 914.0 μsec ± 3.6% | 994.3 μsec ± 4.0% | 1.153 msec ± 3.4% | 1.411 msec ± 4.7% | 6.719 msec ± 2.3% | 10.93 msec ± 1.5% | 19.49 msec ± 1.7% | 36.41 msec ± 1.5% |
Diversity Score
d |
n |
k |
m |
fast |
ros(u) |
ros(nu) |
ros(u,uncon) |
ros(nu,uncon) |
rb(2) |
rb(4) |
rb(8) |
rb(16) |
e(2) |
e(4) |
e(8) |
e(16) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 2 | 100 | 10 | 2 | 0.053 ± 0.0% | 0.328 ± 16.9% | 0.399 ± 17.2% | 0.358 ± 21.1% | 0.381 ± 18.4% | 0.431 ± 12.6% | 0.518 ± 11.2% | 0.652 ± 8.7% | 0.692 ± 6.2% | 0.738 ± 3.8% | 0.746 ± 2.5% | 0.761 ± 4.1% | 0.791 ± 3.9% |
| 2 | 200 | 20 | 4 | 0.050 ± 0.0% | 0.214 ± 7.0% | 0.285 ± 9.6% | 0.210 ± 13.3% | 0.297 ± 9.8% | 0.334 ± 10.1% | 0.368 ± 5.2% | 0.390 ± 7.5% | 0.458 ± 6.5% | 0.509 ± 0.7% | 0.529 ± 2.2% | 0.524 ± 2.5% | 0.538 ± 0.9% |
| 2 | 300 | 30 | 6 | 0.046 ± 0.0% | 0.178 ± 14.5% | 0.213 ± 3.9% | 0.165 ± 9.7% | 0.218 ± 5.5% | 0.210 ± 7.1% | 0.268 ± 6.9% | 0.280 ± 7.0% | 0.300 ± 7.3% | 0.368 ± 1.8% | 0.371 ± 1.7% | 0.381 ± 2.4% | 0.379 ± 1.0% |
| 2 | 400 | 40 | 8 | 0.037 ± 0.0% | 0.145 ± 6.3% | 0.181 ± 5.8% | 0.145 ± 10.9% | 0.179 ± 6.3% | 0.186 ± 4.8% | 0.212 ± 5.3% | 0.230 ± 9.8% | 0.245 ± 4.2% | 0.289 ± 3.3% | 0.308 ± 2.5% | 0.308 ± 2.5% | 0.317 ± 1.2% |
| 2 | 600 | 60 | 12 | 0.034 ± 0.0% | 0.121 ± 7.4% | 0.142 ± 6.7% | 0.114 ± 6.8% | 0.142 ± 3.7% | 0.150 ± 6.2% | 0.178 ± 5.3% | 0.191 ± 4.9% | 0.206 ± 3.6% | 0.251 ± 2.0% | 0.255 ± 1.6% | 0.259 ± 1.4% | 0.264 ± 1.1% |
| 2 | 800 | 80 | 16 | 0.029 ± 0.0% | 0.096 ± 8.6% | 0.125 ± 9.7% | 0.101 ± 3.8% | 0.130 ± 4.9% | 0.134 ± 3.7% | 0.148 ± 3.2% | 0.166 ± 3.7% | 0.173 ± 3.7% | 0.205 ± 2.4% | 0.214 ± 1.9% | 0.216 ± 0.7% | 0.219 ± 1.1% |
| 2 | 1200 | 120 | 24 | 0.019 ± 0.0% | 0.084 ± 3.1% | 0.106 ± 2.6% | 0.081 ± 4.6% | 0.104 ± 2.9% | 0.105 ± 3.9% | 0.121 ± 4.1% | 0.126 ± 3.7% | 0.141 ± 3.8% | 0.167 ± 2.3% | 0.178 ± 1.6% | 0.181 ± 1.0% | 0.180 ± 1.6% |
| 2 | 1600 | 160 | 32 | 0.015 ± 0.0% | 0.071 ± 2.4% | 0.087 ± 3.7% | 0.071 ± 4.4% | 0.088 ± 2.7% | 0.084 ± 4.5% | 0.102 ± 2.1% | 0.107 ± 5.2% | 0.114 ± 3.2% | 0.144 ± 2.4% | 0.147 ± 1.0% | 0.151 ± 0.8% | 0.154 ± 1.0% |
| 2 | 2400 | 240 | 48 | 0.014 ± 0.0% | 0.059 ± 4.5% | 0.077 ± 4.2% | 0.058 ± 4.3% | 0.070 ± 0.6% | 0.068 ± 4.3% | 0.080 ± 5.1% | 0.088 ± 4.3% | 0.089 ± 5.7% | 0.118 ± 2.2% | 0.121 ± 1.5% | 0.123 ± 0.4% | 0.126 ± 0.6% |
| 2 | 3200 | 320 | 64 | 0.012 ± 0.0% | 0.051 ± 2.7% | 0.063 ± 1.6% | 0.050 ± 0.0% | 0.063 ± 2.9% | 0.057 ± 1.6% | 0.067 ± 3.6% | 0.074 ± 2.0% | 0.074 ± 4.9% | 0.100 ± 0.8% | 0.105 ± 1.1% | 0.107 ± 0.5% | 0.107 ± 0.5% |
| 2 | 4800 | 480 | 96 | 0.010 ± 0.0% | 0.042 ± 2.0% | 0.052 ± 0.9% | 0.042 ± 0.8% | 0.049 ± 2.1% | 0.049 ± 1.0% | 0.056 ± 2.9% | 0.060 ± 5.5% | 0.062 ± 2.4% | 0.078 ± 2.2% | 0.083 ± 1.4% | 0.087 ± 0.5% | 0.088 ± 0.6% |
| 2 | 6400 | 640 | 128 | 0.008 ± 0.0% | 0.036 ± 0.5% | 0.045 ± 1.0% | 0.034 ± 1.5% | 0.043 ± 1.6% | 0.039 ± 2.8% | 0.046 ± 0.6% | 0.050 ± 1.1% | 0.054 ± 2.5% | 0.068 ± 1.2% | 0.073 ± 0.7% | 0.076 ± 0.6% | 0.076 ± 0.3% |
| Geomean: | 0.023 ± 0.0% | 0.095 ± 6.3% | 0.119 ± 5.6% | 0.094 ± 6.7% | 0.118 ± 5.1% | 0.118 ± 5.3% | 0.138 ± 4.6% | 0.151 ± 5.3% | 0.161 ± 4.5% | 0.195 ± 2.1% | 0.203 ± 1.6% | 0.207 ± 1.4% | 0.210 ± 1.2% |
Constraint Score
d |
n |
k |
m |
fast |
ros(u) |
ros(nu) |
ros(u,uncon) |
ros(nu,uncon) |
rb(2) |
rb(4) |
rb(8) |
rb(16) |
e(2) |
e(4) |
e(8) |
e(16) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 2 | 100 | 10 | 2 | 0.091 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.818 ± 13.9% | 0.818 ± 13.9% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 200 | 20 | 4 | 0.607 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.934 ± 3.5% | 0.934 ± 1.8% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 300 | 30 | 6 | 0.762 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.940 ± 1.4% | 0.940 ± 1.4% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 400 | 40 | 8 | 0.818 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.956 ± 0.6% | 0.956 ± 0.8% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 600 | 60 | 12 | 0.871 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.967 ± 0.5% | 0.969 ± 0.8% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 800 | 80 | 16 | 0.864 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.960 ± 0.6% | 0.964 ± 0.4% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 1200 | 120 | 24 | 0.861 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.963 ± 0.3% | 0.964 ± 0.4% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 1600 | 160 | 32 | 0.858 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.965 ± 0.3% | 0.963 ± 0.1% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 2400 | 240 | 48 | 0.862 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.966 ± 0.4% | 0.963 ± 0.3% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 3200 | 320 | 64 | 0.867 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.962 ± 0.2% | 0.962 ± 0.4% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 4800 | 480 | 96 | 0.861 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.963 ± 0.1% | 0.967 ± 0.3% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 2 | 6400 | 640 | 128 | 0.863 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.962 ± 0.1% | 0.964 ± 0.1% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| Mean: | 0.765 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.946 ± 1.7% | 0.947 ± 1.6% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |