Merge pull request #69 from control-toolbox/mam

New CTParser version + fixes

Author: ocots

.github/workflows/CI.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   call:
-    if: contains(github.event.pull_request.labels.*.name, 'run ci')
+    if: github.event_name != 'pull_request' || contains(github.event.pull_request.labels.*.name, 'run ci')
     uses: control-toolbox/CTActions/.github/workflows/ci.yml@main
     with:
       runs_on: '["ubuntu-latest"]'

.github/workflows/Documentation.yml

@@ -10,5 +10,5 @@ on:
 
 jobs:
   call:
-    if: contains(github.event.pull_request.labels.*.name, 'run documentation')
+    if: github.event_name != 'pull_request' || contains(github.event.pull_request.labels.*.name, 'run documentation')
     uses: control-toolbox/CTActions/.github/workflows/documentation.yml@main

docs/src/assets/Manifest.toml

@@ -102,9 +102,9 @@ version = "0.4.0"
 
 [[deps.ArrayInterface]]
 deps = ["Adapt", "LinearAlgebra"]
-git-tree-sha1 = "78b3a7a536b4b0a747a0f296ea77091ca0a9f9a3"
+git-tree-sha1 = "54f895554d05c83e3dd59f6a396671dae8999573"
 uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
-version = "7.23.0"
+version = "7.24.0"
 
     [deps.ArrayInterface.extensions]
     ArrayInterfaceAMDGPUExt = "AMDGPU"
@@ -259,9 +259,9 @@ version = "0.9.14"
 
 [[deps.CTParser]]
 deps = ["CTBase", "DocStringExtensions", "MLStyle", "OrderedCollections", "Parameters", "Unicode"]
-git-tree-sha1 = "0a57111b2d95d6272bb76f4f6f7c4fee1e40ce82"
+git-tree-sha1 = "67c193f4f1e5167123b917bbbdb26947757ed4b0"
 uuid = "32681960-a1b1-40db-9bff-a1ca817385d1"
-version = "0.8.13"
+version = "0.8.14"
 
 [[deps.CTSolvers]]
 deps = ["ADNLPModels", "CTBase", "CTModels", "CommonSolve", "DocStringExtensions", "ExaModels", "KernelAbstractions", "NLPModels", "SolverCore"]
@@ -485,10 +485,10 @@ uuid = "85a47980-9c8c-11e8-2b9f-f7ca1fa99fb4"
 version = "0.4.6"
 
 [[deps.DiffEqBase]]
-deps = ["ArrayInterface", "BracketingNonlinearSolve", "ConcreteStructs", "DocStringExtensions", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
-git-tree-sha1 = "87e2ad6d4ae98505218e2f97cafcfa296dc97d37"
+deps = ["ArrayInterface", "BracketingNonlinearSolve", "ConcreteStructs", "DocStringExtensions", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
+git-tree-sha1 = "7fc71417fa27888829b800ca3c0a4d3c1d0d99f0"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.216.0"
+version = "6.217.0"
 
     [deps.DiffEqBase.extensions]
     DiffEqBaseCUDAExt = "CUDA"
@@ -809,9 +809,9 @@ version = "1.16.0"
 
 [[deps.FiniteDiff]]
 deps = ["ArrayInterface", "LinearAlgebra", "Setfield"]
-git-tree-sha1 = "9340ca07ca27093ff68418b7558ca37b05f8aeb1"
+git-tree-sha1 = "73e879af0e767bd6dfade7c5b09d7b05657a8284"
 uuid = "6a86dc24-6348-571c-b903-95158fe2bd41"
-version = "2.29.0"
+version = "2.30.0"
 
     [deps.FiniteDiff.extensions]
     FiniteDiffBandedMatricesExt = "BandedMatrices"
@@ -1556,9 +1556,9 @@ version = "0.2.4"
 
 [[deps.MultivariatePolynomials]]
 deps = ["DataStructures", "LinearAlgebra", "MutableArithmetics", "StarAlgebras"]
-git-tree-sha1 = "b45f1ed8448ea20885cb4c5029c2a462fe2682bf"
+git-tree-sha1 = "9436679244f099fe5cd8a8053f40696be4e3bdd8"
 uuid = "102ac46a-7ee4-5c85-9060-abc95bfdeaa3"
-version = "0.5.17"
+version = "0.5.18"
 weakdeps = ["ChainRulesCore"]
 
     [deps.MultivariatePolynomials.extensions]
@@ -1776,10 +1776,10 @@ uuid = "6ad6398a-0878-4a85-9266-38940aa047c8"
 version = "1.26.0"
 
 [[deps.OrdinaryDiffEqCore]]
-deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "ConcreteStructs", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "Random", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
-git-tree-sha1 = "e81202ab680b4649ea2cb63560b9e57833540cfa"
+deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "ConcreteStructs", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "Random", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Static", "SymbolicIndexingInterface", "TruncatedStacktraces"]
+git-tree-sha1 = "31e7d6c8add3a7f449d492fc7d2437cfbe9d6a7a"
 uuid = "bbf590c4-e513-4bbe-9b18-05decba2e5d8"
-version = "3.31.0"
+version = "3.32.0"
 
     [deps.OrdinaryDiffEqCore.extensions]
     OrdinaryDiffEqCoreMooncakeExt = "Mooncake"
@@ -1933,9 +1933,9 @@ version = "1.14.0"
 
 [[deps.OrdinaryDiffEqStabilizedRK]]
 deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "SciMLBase", "StaticArraysCore"]
-git-tree-sha1 = "bb33a312858b1e6663099f231323a78b7bb00eb3"
+git-tree-sha1 = "764e11fb6a26ee8f2d2d10778d531fd708f35d28"
 uuid = "358294b1-0aab-51c3-aafe-ad5ab194a2ad"
-version = "1.11.0"
+version = "1.11.1"
 
 [[deps.OrdinaryDiffEqSymplecticRK]]
 deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "RecursiveArrayTools", "Reexport", "SciMLBase"]
@@ -2430,22 +2430,25 @@ version = "1.2.1"
 
 [[deps.SparseMatrixColorings]]
 deps = ["ADTypes", "DocStringExtensions", "LinearAlgebra", "PrecompileTools", "Random", "SparseArrays"]
-git-tree-sha1 = "1c1be8c6fdfaf9b6c9e156c509e672953b8e6af7"
+git-tree-sha1 = "f63d76c7b7c329cf11badd564fd8ba877b09c3fe"
 uuid = "0a514795-09f3-496d-8182-132a7b665d35"
-version = "0.4.26"
+version = "0.4.27"
 
     [deps.SparseMatrixColorings.extensions]
-    SparseMatrixColoringsCUDAExt = "CUDA"
+    SparseMatrixColoringsCUDAExt = ["CUDA", "cuSPARSE"]
     SparseMatrixColoringsCliqueTreesExt = "CliqueTrees"
     SparseMatrixColoringsColorsExt = "Colors"
+    SparseMatrixColoringsGPUArraysExt = "GPUArrays"
     SparseMatrixColoringsJuMPExt = ["JuMP", "MathOptInterface"]
 
     [deps.SparseMatrixColorings.weakdeps]
     CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba"
     CliqueTrees = "60701a23-6482-424a-84db-faee86b9b1f8"
     Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
+    GPUArrays = "0c68f7d7-f131-5f86-a1c3-88cf8149b2d7"
     JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
     MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
+    cuSPARSE = "b26da814-b3bc-49ef-b0ee-c816305aa060"
 
 [[deps.SpecialFunctions]]
 deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
@@ -2592,9 +2595,9 @@ version = "1.1.0"
 
 [[deps.SymbolicUtils]]
 deps = ["AbstractTrees", "ArrayInterface", "Combinatorics", "ConstructionBase", "DataStructures", "Dictionaries", "DocStringExtensions", "DynamicPolynomials", "EnumX", "ExproniconLite", "Graphs", "LinearAlgebra", "MacroTools", "Moshi", "MultivariatePolynomials", "MutableArithmetics", "NaNMath", "PrecompileTools", "ReadOnlyArrays", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "TaskLocalValues", "TermInterface", "WeakCacheSets"]
-git-tree-sha1 = "552eaeac659f5802d45c4d936272a712ca13a969"
+git-tree-sha1 = "98c23082cba20c6ae17e920600c89e4f6491e618"
 uuid = "d1185830-fcd6-423d-90d6-eec64667417b"
-version = "4.24.1"
+version = "4.24.2"
 
     [deps.SymbolicUtils.extensions]
     SymbolicUtilsChainRulesCoreExt = "ChainRulesCore"
@@ -2958,9 +2961,9 @@ version = "0.61.1+0"
 
 [[deps.libaom_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
-git-tree-sha1 = "371cc681c00a3ccc3fbc5c0fb91f58ba9bec1ecf"
+git-tree-sha1 = "850b06095ee71f0135d644ffd8a52850699581ed"
 uuid = "a4ae2306-e953-59d6-aa16-d00cac43593b"
-version = "3.13.1+0"
+version = "3.13.3+0"
 
 [[deps.libass_jll]]
 deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Zlib_jll"]

docs/src/tutorial-mam.md

@@ -17,7 +17,7 @@ using Plots, Printf
 We aim to find the most probable transition path between two stable states of a stochastic dynamical system. For a system with deterministic dynamics $f(x)$ and small noise, the transition path minimizes the action functional:
 
 ```math
-S[x(\cdot), u(\cdot)] = \int_0^T \|u(t) - f(x(t))\|^2 \, dt
+S[x(\cdot), u(\cdot)] = \int_0^T \|u(t) - f(x(t))\|^2 \, \mathrm{d}t
 ```
 
 subject to the path dynamics:
@@ -72,19 +72,15 @@ We provide an initial guess for the path using a simple interpolation with the `
 # Time horizon
 T = 50
 
-# Helper functions for initial state guess
-L(t) = -(1 - t/T) + t/T      # Linear interpolation from -1 to 1
-P(t) = 0.3*(-L(t)^2 + 1)     # Parabolic arc (approximates saddle crossing)
-
 init = @init ocp(T) begin
-    # Linear interpolation for x₁
-    x₁(t) := L(t)
-    # Parabolic guess for x₂
-    x₂(t) := P(t)
-    # Control from vector field
-    u(t) := f(L(t), P(t))
+    x₁(t) := -(1 - t/T) + t/T       # Linear interpolation from -1 to 1
+    x₂(t) := 0.3*(-x₁(t)^2 + 1)     # Parabolic arc (approximates saddle crossing)
+    u(t) := f(x₁(t), x₂(t))         # Control from vector field
 end
-nothing # hide
+
+# Visualize the initial guess (solve without optimization, max_iter=0)
+sol_init = solve(ocp(T); init=init, grid_size=1000, max_iter=0)
+plot(sol_init)
 ```
 
 !!! note "Initial guess strategy"