fix: expand benchmarking readme

Author: lvjonok

CONTRIBUTING.md

@@ -0,0 +1,56 @@
+# Contributing to JaxADi
+
+We're thrilled that you're interested in contributing to JaxADi! This document outlines the process for contributing to this project.
+
+## How to Contribute
+
+There are many ways to contribute to JaxADi:
+
+1. Reporting bugs
+2. Suggesting enhancements
+3. Writing documentation
+4. Submitting code changes
+
+### Reporting Bugs
+
+1. Check the [issue tracker](https://github.com/based-robotics/jaxadi/issues) to see if the bug has already been reported.
+2. If not, create a new issue. Provide a clear title and description, as much relevant information as possible, and a code sample or executable test case demonstrating the bug.
+
+### Suggesting Enhancements
+
+1. Check the [issue tracker](https://github.com/based-robotics/jaxadi/issues) to see if the enhancement has already been suggested.
+2. If not, create a new issue. Clearly describe the enhancement, why it would be useful, and any potential drawbacks.
+
+### Writing Documentation
+
+Good documentation is crucial. If you notice any part of our documentation that could be improved or expanded, please let us know or submit a pull request with your suggested changes.
+
+### Submitting Code Changes
+
+1. Fork the repository.
+2. Create a new branch for your changes.
+3. Make your changes in your branch.
+4. Add or update tests as necessary.
+5. Ensure the test suite passes.
+6. Update the documentation as needed.
+7. Push your branch and submit a pull request.
+
+## Pull Request Process
+
+1. Ensure your code follows the project's style guidelines.
+2. Update the README.md or relevant documentation with details of changes, if applicable.
+3. Add tests for your changes and ensure all tests pass.
+4. Your pull request will be reviewed by the maintainers. They may suggest changes or improvements.
+5. Once approved, your pull request will be merged.
+
+<!-- TODO:
+
+## Style Guidelines
+
+We use Ruff to enforce our code style and linting rules....
+```bash
+pip3 install pre-commit
+```
+```bash
+pre-commit install
+``` -->

README.md

@@ -16,7 +16,6 @@ JAXADI can be particularly useful in scenarios involving:
 - Robotics simulations
 - Optimal control problems
 - Machine learning models with complex dynamics
-- Large-scale numerical optimizations
 
 ## Installation
 
@@ -65,6 +64,12 @@ output = jax_fn(input_x, input_y)
 
 ```
 
+<strong>Note:</strong> For now translation does not support functions with very
+large number of operations, due to the translation implementation. Secret component of
+translation is work-tree expansion, which might lead to large overhead in number of
+symbols. We are working on finding the compromise in both speed and extensive
+functions support.
+
 ## Examples
 
 JAXADI comes with several examples to help you get started:
@@ -85,11 +90,27 @@ JAXADI comes with several examples to help you get started:
 
 ## Performance Benchmarks
 
+![speedup](https://github.com/based-robotics/jaxadi/blob/master/docs/static/images/speedup_ratio.png?raw=true)
+
 The process of benchmarking and evaluating the performance of Jaxadi is described in the [benchmarks](benchmarks/README.md) directory.
 
-<!-- ## Contributing
+## Contributing
+
+We welcome contributions! Please see our [Contributing Guide](CONTRIBUTING.md) for more details.
 
-We welcome contributions! Please see our [Contributing Guide](CONTRIBUTING.md) for more details. -->
+## Citation
+
+If you use JaxADi in your research, please cite it as follows:
+
+```bibtex
+@misc{jaxadi2024,
+  title = {JaxADi: Bridging CasADi and JAX for Efficient Numerical Computing},
+  author = {Alentev, Igor and Kozlov, Lev and Nedelchev, Simeon},
+  year = {2024},
+  url = {https://github.com/based-robotics/jaxadi},
+  note = {Accessed: [Insert Access Date]}
+}
+```
 
 ## Acknowledgements
 

benchmarks/README.md

@@ -9,3 +9,23 @@ Adding the complexity of setup of benchmarks of [cusadi](https://github.com/se-h
 Due limitations we cover only the functions with less than 1e3 operations. All of them are located in the [data](data) directory.
 
 One may run the benchmarks in the colab environment and get the [cusadi results](cuda_benchmark_results.npz) and [jaxadi results](jax_benchmark_results.npz) for comparison.
+
+#### Overview
+
+This analysis compares the performance of two computational tools, **Jaxadi** and **Cusadi**, using a range of batch sizes for different operations. The tools are evaluated based on average computation times and their relative speedup across various workloads.
+
+![1e1](https://github.com/based-robotics/jaxadi/blob/master/docs/static/images/compare_1e1_bar.png?raw=true)
+
+![1e2](https://github.com/based-robotics/jaxadi/blob/master/docs/static/images/compare_1e2_bar.png?raw=true)
+
+![Speedup](https://github.com/based-robotics/jaxadi/blob/master/docs/static/images/speedup_ratio.png?raw=true)
+
+#### Key Findings
+
+- **Jaxadi's Consistent Advantage:** Across all tested scenarios, Jaxadi consistently shows better performance than Cusadi. This is evident from the lower average computation times for Jaxadi, particularly as the workload increases.
+
+- **Scalability Differences:** As batch sizes grow, the gap between the two tools becomes more pronounced. Cusadi's computation time increases rapidly with larger batch sizes, especially beyond \(2^{12}\). In contrast, Jaxadi maintains a more stable performance with a much slower increase in computation time, indicating better batch scalability.
+
+#### Conclusion
+
+Overall, Jaxadi offers a clear performance advantage over Cusadi, particularly for small functions which can be translated propely.

docs/index.html

@@ -57,10 +57,10 @@
         <div class="column has-text-centered">
           <h1 class="title is-1 publication-title">JAXADI</h1>
           <div class="is-size-5 publication-authors">
-            <span class="author-block">
-              <a href="https://github.com/lvjonok">Lev Kozlov</a><sup>1</sup>,</span>
             <span class="author-block">
               <a href="https://me.m8pie.xyz">Igor Alentev</a><sup>1</sup>,</span>
+            <span class="author-block">
+              <a href="https://github.com/lvjonok">Lev Kozlov</a><sup>1</sup>,</span>
             <span class="author-block">
               <a href="https://simeon-ned.com/">Simeon Nedelchev</a><sup>2</sup>,
             </span>
@@ -207,11 +207,12 @@ <h2 class="title is-3">Related Links</h2>
 <section class="section" id="BibTeX">
   <div class="container is-max-desktop content">
     <h2 class="title">BibTeX</h2>
-    <pre><code> @misc{jaxadi_2024,
-  author = {Kozlov, Lev and Alentev, Igor and Nedelchev, Simeon},
-  title = {jaxadi},
+    <pre><code>@misc{jaxadi2024,
+  title = {JaxADi: Bridging CasADi and JAX for Efficient Numerical Computing},
+  author = {Alentev, Igor and Kozlov, Lev and Nedelchev, Simeon},
   year = {2024},
-  howpublished = {\url{https://github.com/based-robotics/jaxadi}},
+  url = {https://github.com/based-robotics/jaxadi},
+  note = {Accessed: [Insert Access Date]}
 }
 </code></pre>
   </div>