Benchmark Results - Problem C1 - 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 | 35.19 μsec ± 10.0% | 45.42 μsec ± 10.7% | 43.38 μsec ± 8.7% | 35.71 μsec ± 9.1% | 35.48 μsec ± 6.3% | 78.33 μsec ± 16.0% | 101.3 μsec ± 12.5% | 146.5 μsec ± 10.2% | 158.1 μsec ± 3.2% | 411.0 μsec ± 8.4% | 617.8 μsec ± 9.9% | 1.088 msec ± 6.5% | 2.078 msec ± 7.8% |
| 2 | 200 | 20 | 4 | 60.96 μsec ± 5.1% | 76.92 μsec ± 5.4% | 77.71 μsec ± 6.7% | 59.48 μsec ± 4.0% | 59.81 μsec ± 5.0% | 102.0 μsec ± 21.9% | 134.2 μsec ± 8.8% | 195.7 μsec ± 10.0% | 281.7 μsec ± 9.5% | 826.5 μsec ± 5.9% | 1.287 msec ± 4.5% | 2.262 msec ± 4.2% | 4.221 msec ± 3.6% |
| 2 | 300 | 30 | 6 | 92.02 μsec ± 4.5% | 118.1 μsec ± 7.0% | 114.6 μsec ± 2.6% | 85.71 μsec ± 1.4% | 90.23 μsec ± 4.1% | 143.3 μsec ± 2.8% | 165.9 μsec ± 4.9% | 222.2 μsec ± 6.8% | 348.3 μsec ± 3.9% | 1.283 msec ± 4.9% | 2.076 msec ± 4.1% | 3.540 msec ± 2.6% | 6.650 msec ± 3.3% |
| 2 | 400 | 40 | 8 | 126.5 μsec ± 8.7% | 166.2 μsec ± 6.3% | 159.5 μsec ± 1.9% | 113.7 μsec ± 3.4% | 123.1 μsec ± 7.4% | 206.7 μsec ± 7.0% | 219.3 μsec ± 5.5% | 277.8 μsec ± 3.4% | 410.4 μsec ± 5.9% | 1.818 msec ± 3.9% | 2.774 msec ± 3.9% | 4.901 msec ± 1.9% | 9.132 msec ± 1.3% |
| 2 | 600 | 60 | 12 | 204.7 μsec ± 2.8% | 275.5 μsec ± 4.9% | 273.9 μsec ± 4.0% | 180.4 μsec ± 2.9% | 191.6 μsec ± 4.3% | 326.8 μsec ± 3.8% | 368.9 μsec ± 10.6% | 412.0 μsec ± 3.4% | 553.0 μsec ± 5.5% | 2.932 msec ± 4.1% | 4.885 msec ± 2.1% | 8.335 msec ± 2.1% | 15.77 msec ± 2.0% |
| 2 | 800 | 80 | 16 | 302.2 μsec ± 5.3% | 411.9 μsec ± 5.6% | 406.7 μsec ± 3.1% | 258.6 μsec ± 3.0% | 264.9 μsec ± 3.5% | 460.9 μsec ± 2.9% | 514.2 μsec ± 8.0% | 573.5 μsec ± 9.9% | 702.1 μsec ± 9.7% | 4.396 msec ± 5.0% | 7.234 msec ± 1.8% | 12.47 msec ± 2.8% | 22.80 msec ± 1.7% |
| 2 | 1200 | 120 | 24 | 571.6 μsec ± 4.8% | 771.3 μsec ± 0.9% | 784.8 μsec ± 3.0% | 444.8 μsec ± 8.2% | 496.5 μsec ± 12.6% | 955.8 μsec ± 11.2% | 886.1 μsec ± 7.8% | 1.001 msec ± 4.3% | 1.164 msec ± 3.8% | 7.336 msec ± 3.2% | 12.26 msec ± 1.6% | 20.97 msec ± 1.7% | 39.87 msec ± 0.5% |
| 2 | 1600 | 160 | 32 | 872.5 μsec ± 2.4% | 1.350 msec ± 5.0% | 1.482 msec ± 9.2% | 813.2 μsec ± 9.5% | 776.6 μsec ± 17.3% | 1.404 msec ± 6.3% | 1.481 msec ± 6.1% | 1.672 msec ± 6.8% | 1.770 msec ± 5.5% | 11.39 msec ± 1.3% | 18.96 msec ± 2.5% | 33.47 msec ± 1.2% | 60.18 msec ± 1.8% |
| 2 | 2400 | 240 | 48 | 1.540 msec ± 3.2% | 3.047 msec ± 7.6% | 2.728 msec ± 0.6% | 1.559 msec ± 8.4% | 1.795 msec ± 4.9% | 2.946 msec ± 8.0% | 3.067 msec ± 4.9% | 3.055 msec ± 1.5% | 3.320 msec ± 7.1% | 20.82 msec ± 1.8% | 34.50 msec ± 3.5% | 63.16 msec ± 0.9% | 117.5 msec ± 0.7% |
| 2 | 3200 | 320 | 64 | 2.623 msec ± 0.2% | 5.146 msec ± 5.2% | 4.935 msec ± 4.5% | 3.126 msec ± 6.3% | 2.683 msec ± 1.7% | 5.051 msec ± 1.2% | 5.541 msec ± 3.1% | 5.256 msec ± 3.3% | 5.912 msec ± 7.0% | 33.88 msec ± 2.0% | 57.08 msec ± 1.8% | 100.3 msec ± 0.9% | 189.1 msec ± 1.2% |
| 2 | 4800 | 480 | 96 | 5.151 msec ± 0.5% | 11.94 msec ± 0.2% | 12.22 msec ± 1.0% | 6.993 msec ± 3.5% | 6.964 msec ± 2.4% | 12.21 msec ± 0.3% | 12.27 msec ± 0.5% | 12.52 msec ± 1.4% | 12.85 msec ± 0.5% | 69.93 msec ± 0.2% | 120.7 msec ± 1.0% | 211.4 msec ± 1.1% | 405.7 msec ± 1.0% |
| 2 | 6400 | 640 | 128 | 8.372 msec ± 0.1% | 23.68 msec ± 0.3% | 25.02 msec ± 0.5% | 14.82 msec ± 5.5% | 15.29 msec ± 1.2% | 24.60 msec ± 1.2% | 25.17 msec ± 0.2% | 25.56 msec ± 2.8% | 26.19 msec ± 0.4% | 130.9 msec ± 0.3% | 222.1 msec ± 0.3% | 400.4 msec ± 0.6% | 766.7 msec ± 1.0% |
| Geomean: | 475.7 μsec ± 3.9% | 757.9 μsec ± 4.9% | 752.2 μsec ± 3.8% | 486.6 μsec ± 5.4% | 498.7 μsec ± 5.8% | 879.4 μsec ± 6.8% | 964.3 μsec ± 6.0% | 1.113 msec ± 5.3% | 1.340 msec ± 5.1% | 6.483 msec ± 3.4% | 10.59 msec ± 3.0% | 18.56 msec ± 2.2% | 34.82 msec ± 2.2% |
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% | 0.286 ± 29.3% | 0.351 ± 18.6% | 0.358 ± 21.1% | 0.381 ± 18.4% | 0.413 ± 15.4% | 0.525 ± 15.2% | 0.670 ± 7.6% | 0.688 ± 4.4% | 0.749 ± 3.1% | 0.750 ± 2.0% | 0.763 ± 2.8% | 0.787 ± 2.9% |
| 2 | 200 | 20 | 4 | 0.050 ± 0.0% | 0.214 ± 8.6% | 0.299 ± 8.5% | 0.210 ± 13.3% | 0.297 ± 9.8% | 0.321 ± 7.7% | 0.351 ± 11.2% | 0.426 ± 6.7% | 0.469 ± 5.2% | 0.524 ± 2.1% | 0.546 ± 1.5% | 0.546 ± 2.0% | 0.550 ± 1.6% |
| 2 | 300 | 30 | 6 | 0.046 ± 0.0% | 0.171 ± 6.6% | 0.232 ± 4.7% | 0.165 ± 9.7% | 0.218 ± 5.5% | 0.215 ± 8.2% | 0.274 ± 5.5% | 0.279 ± 5.3% | 0.314 ± 7.8% | 0.377 ± 3.7% | 0.388 ± 1.8% | 0.402 ± 0.7% | 0.401 ± 1.9% |
| 2 | 400 | 40 | 8 | 0.037 ± 0.0% | 0.150 ± 3.4% | 0.191 ± 6.3% | 0.145 ± 10.9% | 0.179 ± 6.3% | 0.187 ± 7.6% | 0.214 ± 7.3% | 0.239 ± 5.0% | 0.259 ± 5.5% | 0.314 ± 2.3% | 0.331 ± 1.4% | 0.339 ± 1.4% | 0.349 ± 1.1% |
| 2 | 600 | 60 | 12 | 0.034 ± 0.0% | 0.117 ± 6.6% | 0.149 ± 5.8% | 0.114 ± 6.8% | 0.142 ± 3.7% | 0.155 ± 6.2% | 0.171 ± 4.6% | 0.185 ± 5.8% | 0.207 ± 6.7% | 0.253 ± 1.9% | 0.262 ± 0.7% | 0.268 ± 1.1% | 0.277 ± 1.2% |
| 2 | 800 | 80 | 16 | 0.029 ± 0.0% | 0.102 ± 5.6% | 0.127 ± 4.7% | 0.101 ± 3.8% | 0.130 ± 4.9% | 0.133 ± 5.4% | 0.150 ± 5.2% | 0.169 ± 2.6% | 0.175 ± 1.7% | 0.217 ± 1.3% | 0.225 ± 0.8% | 0.231 ± 0.8% | 0.234 ± 1.3% |
| 2 | 1200 | 120 | 24 | 0.019 ± 0.0% | 0.086 ± 5.7% | 0.103 ± 3.8% | 0.081 ± 4.6% | 0.104 ± 2.9% | 0.104 ± 3.5% | 0.118 ± 4.0% | 0.127 ± 4.8% | 0.142 ± 2.4% | 0.176 ± 0.8% | 0.182 ± 0.7% | 0.186 ± 0.9% | 0.190 ± 0.1% |
| 2 | 1600 | 160 | 32 | 0.015 ± 0.0% | 0.069 ± 2.3% | 0.086 ± 5.1% | 0.071 ± 4.4% | 0.088 ± 2.7% | 0.091 ± 3.7% | 0.105 ± 3.0% | 0.113 ± 2.1% | 0.117 ± 2.1% | 0.147 ± 1.8% | 0.153 ± 0.9% | 0.158 ± 0.7% | 0.161 ± 0.7% |
| 2 | 2400 | 240 | 48 | 0.014 ± 0.0% | 0.058 ± 2.5% | 0.073 ± 2.0% | 0.058 ± 4.3% | 0.070 ± 0.6% | 0.065 ± 4.7% | 0.077 ± 3.7% | 0.089 ± 4.2% | 0.089 ± 5.8% | 0.119 ± 0.8% | 0.124 ± 1.5% | 0.128 ± 0.8% | 0.130 ± 0.6% |
| 2 | 3200 | 320 | 64 | 0.012 ± 0.0% | 0.050 ± 3.7% | 0.064 ± 2.3% | 0.050 ± 0.0% | 0.063 ± 2.9% | 0.057 ± 6.0% | 0.064 ± 1.9% | 0.076 ± 2.8% | 0.080 ± 4.0% | 0.103 ± 0.7% | 0.108 ± 0.7% | 0.109 ± 0.3% | 0.112 ± 0.5% |
| 2 | 4800 | 480 | 96 | 0.010 ± 0.0% | 0.042 ± 1.1% | 0.050 ± 1.0% | 0.042 ± 0.8% | 0.049 ± 2.1% | 0.050 ± 2.3% | 0.057 ± 3.8% | 0.061 ± 1.4% | 0.064 ± 1.2% | 0.082 ± 1.4% | 0.088 ± 0.2% | 0.090 ± 0.2% | 0.091 ± 0.4% |
| 2 | 6400 | 640 | 128 | 0.008 ± 0.0% | 0.036 ± 1.1% | 0.045 ± 0.7% | 0.034 ± 1.5% | 0.043 ± 1.6% | 0.041 ± 2.4% | 0.047 ± 1.6% | 0.051 ± 0.2% | 0.053 ± 1.6% | 0.070 ± 1.0% | 0.076 ± 0.1% | 0.077 ± 0.5% | 0.079 ± 0.1% |
| Geomean: | 0.023 ± 0.0% | 0.094 ± 6.2% | 0.119 ± 5.2% | 0.094 ± 6.7% | 0.118 ± 5.1% | 0.119 ± 6.1% | 0.137 ± 5.6% | 0.154 ± 4.1% | 0.164 ± 4.0% | 0.202 ± 1.7% | 0.211 ± 1.0% | 0.216 ± 1.0% | 0.220 ± 1.0% |
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 | 0.556 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 1.4% | 1.000 ± 5.6% | 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% |
| 2 | 200 | 20 | 4 | 0.471 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.941 ± 4.7% | 0.941 ± 3.1% | 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 | 300 | 30 | 6 | 0.440 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.920 ± 4.3% | 0.920 ± 2.7% | 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 | 0.394 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.909 ± 2.1% | 0.909 ± 2.1% | 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 | 600 | 60 | 12 | 0.429 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.898 ± 1.7% | 0.918 ± 2.8% | 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 | 0.400 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.900 ± 2.8% | 0.908 ± 1.3% | 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 | 1200 | 120 | 24 | 0.381 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.897 ± 2.0% | 0.902 ± 2.4% | 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 | 0.372 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.907 ± 2.4% | 0.895 ± 1.5% | 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 | 0.383 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.917 ± 1.6% | 0.902 ± 2.1% | 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 | 3200 | 320 | 64 | 0.409 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.889 ± 0.9% | 0.899 ± 1.9% | 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 | 4800 | 480 | 96 | 0.384 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.897 ± 0.7% | 0.917 ± 1.0% | 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% | 1.000 ± 0.0% |
| 2 | 6400 | 640 | 128 | 0.384 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.897 ± 0.3% | 0.903 ± 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% |
| Mean: | 0.417 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.914 ± 2.1% | 0.918 ± 2.3% | 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% |