Benchmark Results - Problem C4 - 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) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 150 | 10 | 3 | 34.96 μsec ± 4.9% | 46.92 μsec ± 6.2% | 45.29 μsec ± 5.4% | 36.83 μsec ± 4.9% | 36.94 μsec ± 1.7% | 66.90 μsec ± 4.3% | 93.88 μsec ± 3.5% | 144.9 μsec ± 1.1% | 165.8 μsec ± 1.0% | 425.4 μsec ± 3.5% | 653.6 μsec ± 2.0% | 1.129 msec ± 1.2% | 2.090 msec ± 1.9% |
| 2 | 300 | 20 | 6 | 68.48 μsec ± 8.1% | 99.48 μsec ± 1.8% | 98.52 μsec ± 2.1% | 68.17 μsec ± 9.5% | 69.06 μsec ± 2.8% | 128.2 μsec ± 4.3% | 151.9 μsec ± 2.6% | 214.3 μsec ± 4.9% | 328.8 μsec ± 6.0% | 909.6 μsec ± 4.5% | 1.442 msec ± 5.0% | 2.541 msec ± 2.4% | 4.755 msec ± 1.7% |
| 3 | 450 | 30 | 9 | 111.5 μsec ± 3.2% | 186.3 μsec ± 2.2% | 181.9 μsec ± 1.7% | 106.5 μsec ± 2.1% | 107.6 μsec ± 2.0% | 220.1 μsec ± 3.7% | 237.8 μsec ± 5.5% | 302.0 μsec ± 2.1% | 423.1 μsec ± 2.6% | 1.513 msec ± 4.5% | 2.431 msec ± 2.5% | 4.307 msec ± 2.1% | 7.910 msec ± 0.8% |
| 4 | 600 | 40 | 12 | 155.6 μsec ± 2.0% | 297.5 μsec ± 1.9% | 312.0 μsec ± 7.1% | 148.0 μsec ± 3.8% | 159.7 μsec ± 3.1% | 363.5 μsec ± 6.9% | 379.3 μsec ± 3.9% | 452.6 μsec ± 7.1% | 593.1 μsec ± 3.9% | 2.357 msec ± 3.7% | 3.778 msec ± 1.4% | 6.662 msec ± 1.5% | 12.45 msec ± 1.0% |
| 6 | 900 | 60 | 18 | 243.2 μsec ± 3.1% | 677.3 μsec ± 7.1% | 735.0 μsec ± 4.0% | 284.2 μsec ± 13.7% | 306.1 μsec ± 12.9% | 756.1 μsec ± 6.6% | 821.6 μsec ± 7.5% | 922.4 μsec ± 3.5% | 1.035 msec ± 2.5% | 4.253 msec ± 2.0% | 7.130 msec ± 1.7% | 12.64 msec ± 1.4% | 23.68 msec ± 0.9% |
| 8 | 1200 | 80 | 24 | 340.9 μsec ± 0.9% | 1.300 msec ± 3.0% | 1.315 msec ± 3.6% | 400.6 μsec ± 14.7% | 433.1 μsec ± 12.2% | 1.467 msec ± 3.6% | 1.499 msec ± 3.9% | 1.655 msec ± 4.3% | 1.792 msec ± 2.8% | 6.946 msec ± 1.9% | 11.66 msec ± 1.6% | 21.54 msec ± 1.2% | 39.61 msec ± 1.6% |
| 12 | 1800 | 120 | 36 | 597.1 μsec ± 1.2% | 3.575 msec ± 1.9% | 3.587 msec ± 1.9% | 814.3 μsec ± 7.1% | 853.3 μsec ± 12.3% | 3.724 msec ± 1.0% | 3.788 msec ± 2.0% | 4.019 msec ± 1.9% | 4.128 msec ± 1.0% | 14.20 msec ± 2.0% | 25.44 msec ± 1.5% | 48.07 msec ± 1.9% | 89.78 msec ± 1.2% |
| 16 | 2400 | 160 | 48 | 874.2 μsec ± 0.9% | 7.525 msec ± 1.4% | 7.561 msec ± 0.7% | 1.281 msec ± 3.3% | 1.330 msec ± 3.3% | 7.749 msec ± 1.3% | 7.905 msec ± 1.4% | 8.023 msec ± 0.8% | 8.423 msec ± 1.5% | 25.78 msec ± 1.0% | 46.45 msec ± 0.2% | 88.31 msec ± 1.4% | 170.3 msec ± 0.3% |
| 24 | 3600 | 240 | 72 | 1.581 msec ± 0.3% | 24.30 msec ± 0.8% | 24.53 msec ± 0.7% | 2.903 msec ± 1.8% | 2.960 msec ± 1.2% | 25.03 msec ± 1.0% | 25.33 msec ± 1.0% | 25.58 msec ± 0.5% | 25.93 msec ± 0.8% | 65.53 msec ± 0.7% | 122.8 msec ± 0.3% | 239.6 msec ± 0.5% | 480.5 msec ± 0.3% |
| 32 | 4800 | 320 | 96 | 2.515 msec ± 0.8% | 56.99 msec ± 0.4% | 56.92 msec ± 0.5% | 5.281 msec ± 0.6% | 5.279 msec ± 1.2% | 58.09 msec ± 0.3% | 59.06 msec ± 0.5% | 59.06 msec ± 0.2% | 59.49 msec ± 0.4% | 147.2 msec ± 0.4% | 259.8 msec ± 0.9% | 515.9 msec ± 0.6% | 1.024 sec ± 0.6% |
| 48 | 7200 | 480 | 144 | 5.010 msec ± 0.8% | 187.2 msec ± 0.5% | 186.8 msec ± 0.4% | 13.79 msec ± 0.3% | 14.38 msec ± 0.9% | 191.0 msec ± 0.5% | 192.9 msec ± 0.6% | 193.9 msec ± 0.6% | 195.6 msec ± 0.3% | 451.3 msec ± 0.4% | 862.1 msec ± 0.1% | 1.657 sec ± 0.3% | 3.085 sec ± 0.2% |
| 64 | 9600 | 640 | 192 | 8.425 msec ± 0.3% | 442.1 msec ± 1.9% | 440.9 msec ± 1.5% | 24.41 msec ± 0.7% | 24.00 msec ± 3.1% | 448.5 msec ± 0.6% | 453.5 msec ± 2.3% | 462.6 msec ± 1.4% | 460.8 msec ± 0.4% | 1.017 sec ± 2.3% | 2.112 sec ± 2.7% | 4.425 sec ± 2.6% | 8.257 sec ± 1.9% |
| Geomean: | 508.9 μsec ± 2.2% | 3.070 msec ± 2.4% | 3.092 msec ± 2.5% | 733.5 μsec ± 5.1% | 757.3 μsec ± 4.7% | 3.439 msec ± 2.8% | 3.682 msec ± 2.9% | 4.178 msec ± 2.4% | 4.721 msec ± 1.9% | 14.18 msec ± 2.2% | 24.61 msec ± 1.6% | 45.84 msec ± 1.4% | 86.52 msec ± 1.0% |
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) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 150 | 10 | 3 | 0.004 ± 0.0% | 0.101 ± 37.2% | 0.207 ± 19.2% | 0.104 ± 43.6% | 0.251 ± 28.0% | 0.194 ± 26.3% | 0.229 ± 17.0% | 0.224 ± 18.5% | 0.229 ± 21.0% | 0.344 ± 11.9% | 0.347 ± 9.1% | 0.343 ± 11.1% | 0.375 ± 6.5% |
| 2 | 300 | 20 | 6 | 0.081 ± 0.0% | 0.304 ± 11.9% | 0.397 ± 12.0% | 0.375 ± 10.8% | 0.536 ± 15.2% | 0.439 ± 9.2% | 0.557 ± 5.1% | 0.505 ± 5.1% | 0.538 ± 8.3% | 0.665 ± 5.3% | 0.667 ± 8.4% | 0.625 ± 11.1% | 0.663 ± 4.9% |
| 3 | 450 | 30 | 9 | 0.247 ± 0.0% | 0.575 ± 7.4% | 0.681 ± 3.7% | 0.642 ± 7.1% | 0.814 ± 5.1% | 0.702 ± 9.6% | 0.846 ± 4.1% | 0.870 ± 4.9% | 0.918 ± 3.7% | 1.011 ± 3.6% | 0.998 ± 4.1% | 0.986 ± 4.8% | 0.919 ± 5.4% |
| 4 | 600 | 40 | 12 | 0.324 ± 0.0% | 0.895 ± 6.9% | 0.964 ± 2.0% | 0.966 ± 5.1% | 1.054 ± 6.8% | 1.097 ± 3.3% | 1.186 ± 3.4% | 1.222 ± 3.2% | 1.210 ± 4.3% | 1.281 ± 4.4% | 1.288 ± 5.0% | 1.282 ± 2.2% | 1.227 ± 3.3% |
| 6 | 900 | 60 | 18 | 0.712 ± 0.0% | 1.322 ± 2.9% | 1.414 ± 2.3% | 1.441 ± 2.3% | 1.560 ± 2.2% | 1.595 ± 2.2% | 1.713 ± 1.8% | 1.777 ± 3.0% | 1.744 ± 3.4% | 1.865 ± 1.3% | 1.884 ± 1.1% | 1.831 ± 2.5% | 1.751 ± 2.7% |
| 8 | 1200 | 80 | 24 | 1.109 ± 0.0% | 1.757 ± 2.1% | 1.837 ± 1.6% | 1.881 ± 3.0% | 2.006 ± 3.1% | 1.985 ± 2.0% | 2.096 ± 1.8% | 2.133 ± 2.7% | 2.159 ± 2.2% | 2.296 ± 2.5% | 2.310 ± 1.6% | 2.280 ± 1.0% | 2.254 ± 1.5% |
| 12 | 1800 | 120 | 36 | 1.788 ± 0.0% | 2.501 ± 0.8% | 2.563 ± 1.4% | 2.687 ± 1.5% | 2.738 ± 0.8% | 2.719 ± 1.1% | 2.839 ± 1.1% | 2.859 ± 0.9% | 2.888 ± 0.7% | 3.036 ± 0.9% | 3.058 ± 1.0% | 3.012 ± 0.9% | 2.962 ± 1.1% |
| 16 | 2400 | 160 | 48 | 2.459 ± 0.0% | 3.217 ± 0.8% | 3.255 ± 0.4% | 3.383 ± 1.1% | 3.462 ± 0.9% | 3.399 ± 1.1% | 3.458 ± 0.5% | 3.470 ± 0.6% | 3.477 ± 1.2% | 3.619 ± 0.7% | 3.683 ± 0.6% | 3.644 ± 0.8% | 3.602 ± 0.4% |
| 24 | 3600 | 240 | 72 | 3.438 ± 0.0% | 4.320 ± 0.2% | 4.335 ± 0.4% | 4.510 ± 1.0% | 4.587 ± 0.7% | 4.472 ± 0.1% | 4.517 ± 0.5% | 4.529 ± 0.3% | 4.536 ± 0.3% | 4.563 ± 0.8% | 4.671 ± 0.7% | 4.679 ± 0.4% | 4.635 ± 0.2% |
| 32 | 4800 | 320 | 96 | 4.441 ± 0.0% | 5.346 ± 0.3% | 5.393 ± 0.3% | 5.475 ± 0.2% | 5.587 ± 0.8% | 5.518 ± 0.1% | 5.565 ± 0.3% | 5.587 ± 0.4% | 5.594 ± 0.1% | 5.553 ± 0.6% | 5.534 ± 0.5% | 5.584 ± 0.6% | 5.593 ± 0.6% |
| 48 | 7200 | 480 | 144 | 6.055 ± 0.0% | 6.984 ± 0.1% | 7.018 ± 0.1% | 7.168 ± 0.2% | 7.219 ± 0.1% | 7.167 ± 0.1% | 7.184 ± 0.3% | 7.235 ± 0.0% | 7.240 ± 0.1% | 7.196 ± 0.2% | 7.108 ± 0.1% | 7.018 ± 0.1% | 6.989 ± 0.3% |
| 64 | 9600 | 640 | 192 | 7.497 ± 0.0% | 8.416 ± 0.1% | 8.442 ± 0.0% | 8.624 ± 0.1% | 8.683 ± 0.1% | 8.549 ± 0.1% | 8.595 ± 0.1% | 8.628 ± 0.1% | 8.640 ± 0.1% | 8.547 ± 0.2% | 8.493 ± 0.3% | 8.395 ± 0.1% | 8.311 ± 0.1% |
| Geomean: | 0.801 ± 0.0% | 1.648 ± 6.0% | 1.851 ± 3.6% | 1.764 ± 5.8% | 2.050 ± 5.7% | 1.943 ± 4.5% | 2.091 ± 3.1% | 2.095 ± 3.3% | 2.120 ± 3.7% | 2.298 ± 2.7% | 2.307 ± 2.7% | 2.274 ± 3.0% | 2.260 ± 2.3% |
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) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 150 | 10 | 3 | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 0.875 ± 7.1% | 0.812 ± 8.7% | 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 | 300 | 20 | 6 | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.2% | 0.893 ± 3.7% | 0.828 ± 6.2% | 1.000 ± 0.0% | 1.000 ± 0.8% | 1.000 ± 0.8% | 0.984 ± 0.8% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 3 | 450 | 30 | 9 | 0.993 ± 0.0% | 0.993 ± 0.4% | 0.993 ± 0.5% | 0.890 ± 3.4% | 0.853 ± 4.2% | 0.993 ± 0.5% | 0.989 ± 0.7% | 0.993 ± 0.5% | 0.993 ± 0.5% | 0.993 ± 0.5% | 1.000 ± 0.0% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 4 | 600 | 40 | 12 | 0.992 ± 0.0% | 0.992 ± 0.4% | 0.994 ± 0.4% | 0.873 ± 3.5% | 0.861 ± 2.2% | 0.992 ± 0.2% | 0.992 ± 0.3% | 0.988 ± 0.3% | 0.988 ± 0.2% | 0.992 ± 0.2% | 0.998 ± 0.2% | 1.000 ± 0.0% | 1.000 ± 0.0% |
| 6 | 900 | 60 | 18 | 0.987 ± 0.0% | 0.993 ± 0.4% | 0.993 ± 0.2% | 0.888 ± 1.4% | 0.880 ± 1.2% | 0.994 ± 0.3% | 0.989 ± 0.5% | 0.991 ± 0.3% | 0.989 ± 0.3% | 0.994 ± 0.2% | 0.996 ± 0.2% | 1.000 ± 0.1% | 1.000 ± 0.0% |
| 8 | 1200 | 80 | 24 | 0.984 ± 0.0% | 0.992 ± 0.2% | 0.993 ± 0.2% | 0.894 ± 1.1% | 0.881 ± 1.2% | 0.991 ± 0.2% | 0.990 ± 0.2% | 0.989 ± 0.2% | 0.989 ± 0.2% | 0.991 ± 0.2% | 0.995 ± 0.2% | 0.999 ± 0.1% | 1.000 ± 0.0% |
| 12 | 1800 | 120 | 36 | 0.979 ± 0.0% | 0.991 ± 0.1% | 0.990 ± 0.1% | 0.885 ± 0.8% | 0.878 ± 0.8% | 0.991 ± 0.2% | 0.991 ± 0.1% | 0.990 ± 0.2% | 0.989 ± 0.1% | 0.992 ± 0.1% | 0.996 ± 0.1% | 0.998 ± 0.1% | 0.999 ± 0.1% |
| 16 | 2400 | 160 | 48 | 0.967 ± 0.0% | 0.990 ± 0.2% | 0.990 ± 0.1% | 0.892 ± 0.5% | 0.892 ± 0.6% | 0.988 ± 0.1% | 0.987 ± 0.1% | 0.989 ± 0.1% | 0.988 ± 0.2% | 0.991 ± 0.1% | 0.994 ± 0.1% | 0.996 ± 0.1% | 0.998 ± 0.0% |
| 24 | 3600 | 240 | 72 | 0.968 ± 0.0% | 0.980 ± 0.1% | 0.982 ± 0.2% | 0.893 ± 0.6% | 0.890 ± 0.1% | 0.980 ± 0.2% | 0.981 ± 0.2% | 0.979 ± 0.1% | 0.979 ± 0.2% | 0.990 ± 0.1% | 0.993 ± 0.1% | 0.995 ± 0.0% | 0.996 ± 0.1% |
| 32 | 4800 | 320 | 96 | 0.962 ± 0.0% | 0.969 ± 0.0% | 0.973 ± 0.2% | 0.885 ± 0.2% | 0.887 ± 0.4% | 0.970 ± 0.2% | 0.968 ± 0.1% | 0.968 ± 0.1% | 0.966 ± 0.1% | 0.982 ± 0.1% | 0.990 ± 0.1% | 0.993 ± 0.0% | 0.994 ± 0.0% |
| 48 | 7200 | 480 | 144 | 0.958 ± 0.0% | 0.959 ± 0.2% | 0.960 ± 0.0% | 0.891 ± 0.2% | 0.889 ± 0.1% | 0.956 ± 0.1% | 0.955 ± 0.2% | 0.955 ± 0.1% | 0.955 ± 0.1% | 0.970 ± 0.0% | 0.979 ± 0.0% | 0.985 ± 0.0% | 0.988 ± 0.0% |
| 64 | 9600 | 640 | 192 | 0.955 ± 0.0% | 0.950 ± 0.1% | 0.950 ± 0.0% | 0.893 ± 0.2% | 0.894 ± 0.1% | 0.949 ± 0.1% | 0.948 ± 0.1% | 0.947 ± 0.0% | 0.947 ± 0.0% | 0.960 ± 0.1% | 0.970 ± 0.1% | 0.977 ± 0.1% | 0.979 ± 0.1% |
| Mean: | 0.979 ± 0.0% | 0.984 ± 0.2% | 0.985 ± 0.2% | 0.888 ± 1.9% | 0.870 ± 2.1% | 0.984 ± 0.2% | 0.982 ± 0.3% | 0.982 ± 0.2% | 0.981 ± 0.2% | 0.988 ± 0.1% | 0.993 ± 0.1% | 0.995 ± 0.0% | 0.996 ± 0.0% |