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feat: add notebook from colab
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‎benchmarks/README.md

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# Benchmarking
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This directory contains a set of benchmarks that we use to evaluate the performance of the `jaxadi` in comparison to `cusadi`.
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Due to the difficulty of installation and `cuda` dependencies, we were able to reproduce the tests in the `colab` environment only.

‎benchmarks/jaxadi_vs_cusadi.ipynb

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{
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"nbformat": 4,
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"nbformat_minor": 0,
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"metadata": {
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"colab": {
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"provenance": [],
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"gpuType": "T4"
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},
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"kernelspec": {
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"name": "python3",
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"display_name": "Python 3"
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},
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"language_info": {
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"name": "python"
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},
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"accelerator": "GPU"
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},
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"cells": [
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{
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"cell_type": "code",
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"source": [
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"%%capture\n",
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"\n",
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"!git clone https://github.com/se-hwan/cusadi\n",
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"!git clone -b feature/benchmarking https://github.com/based-robotics/jaxadi\n",
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"# copy the content back to the current directory\n",
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"!cp -r cusadi/** .\n",
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"!pip install -e .\n",
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"!cd jaxadi && pip install .\n",
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"!cp jaxadi/benchmarks/run_benchmark.py ."
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],
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"metadata": {
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"id": "6wCJ13jopz9v"
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},
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"execution_count": 1,
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"outputs": []
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},
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{
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"cell_type": "code",
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"source": [
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"from run_benchmark import main\n",
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"main()"
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],
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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},
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"id": "UQRLUvYeHJxH",
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"outputId": "ab357d37-412c-4f86-ea26-c73e70901604"
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},
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"execution_count": 2,
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"outputs": [
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{
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"output_type": "stream",
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"name": "stdout",
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"text": [
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"Generating CUDA code for CasADi function: fn_1e1\n",
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"CUDA codegen complete for CasADi function: fn_1e1\n",
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"Generating CUDA code for CasADi function: fn_1e2\n",
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"CUDA codegen complete for CasADi function: fn_1e2\n",
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"fn_1e1\n",
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"fn_1e2\n",
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"Running CUDA benchmark for 1 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d4592d0>\n",
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"Running CUDA benchmark for 2 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459a80>\n",
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"Running CUDA benchmark for 4 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459870>\n",
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"Running CUDA benchmark for 8 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459ab0>\n",
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"Running CUDA benchmark for 16 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459e70>\n",
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"Running CUDA benchmark for 32 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459840>\n",
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"Running CUDA benchmark for 64 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459d80>\n",
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"Running CUDA benchmark for 128 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459960>\n",
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"Running CUDA benchmark for 256 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459930>\n",
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"Running CUDA benchmark for 512 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d4597b0>\n",
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"Running CUDA benchmark for 1024 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459990>\n",
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"Running CUDA benchmark for 2048 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459db0>\n",
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"Running CUDA benchmark for 4096 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459f30>\n",
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"Running CUDA benchmark for 8192 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d45a0b0>\n",
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"Running CUDA benchmark for 16384 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459810>\n",
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"Running CUDA benchmark for 32768 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d4599f0>\n",
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"Running CUDA benchmark for 65536 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d45a0e0>\n",
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"Running CUDA benchmark for 131072 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d459f90>\n",
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"Running CUDA benchmark for 262144 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d45a440>\n",
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"Running CUDA benchmark for 524288 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b3d45a290>\n",
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"Running CUDA benchmark for 1048576 environments with function fn_1e1...\n",
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"Loaded CasADi function: fn_1e1:(i0[4],i1[2],i2[2],i3)->(o0[2],o1[3x3],o2[3]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e1.so', handle 5bb692f4d500 at 0x7e0b406f7d00>\n",
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"Running CUDA benchmark for 1 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45a3e0>\n",
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"Running CUDA benchmark for 2 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45ae90>\n",
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"Running CUDA benchmark for 4 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45a800>\n",
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"Running CUDA benchmark for 8 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d459ae0>\n",
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"Running CUDA benchmark for 16 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45a980>\n",
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"Running CUDA benchmark for 32 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45a5f0>\n",
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"Running CUDA benchmark for 64 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45ada0>\n",
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"Running CUDA benchmark for 128 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45a680>\n",
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"Running CUDA benchmark for 256 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45aef0>\n",
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"Running CUDA benchmark for 512 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45a920>\n",
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"Running CUDA benchmark for 1024 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b160>\n",
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"Running CUDA benchmark for 2048 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b190>\n",
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"Running CUDA benchmark for 4096 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45a890>\n",
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"Running CUDA benchmark for 8192 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b3d0>\n",
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"Running CUDA benchmark for 16384 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b010>\n",
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"Running CUDA benchmark for 32768 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b400>\n",
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"Running CUDA benchmark for 65536 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45a8c0>\n",
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"Running CUDA benchmark for 131072 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b640>\n",
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"Running CUDA benchmark for 262144 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b340>\n",
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"Running CUDA benchmark for 524288 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b700>\n",
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"Running CUDA benchmark for 1048576 environments with function fn_1e2...\n",
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"Loaded CasADi function: fn_1e2:(i0[9],i1[3],i2[6],i3[2])->(o0[3],o1[5x5,23nz],o2[5]) SXFunction\n",
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"Loaded library: <CDLL '/content/build/libfn_1e2.so', handle 5bb69380ab70 at 0x7e0b3d45b520>\n",
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"Running Jaxadi benchmark for 1 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 2 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 4 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 8 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 16 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 32 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 64 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 128 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 256 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 512 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 1024 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 2048 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 4096 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 8192 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 16384 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 32768 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 65536 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 131072 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 262144 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 524288 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 1048576 environments with function fn_1e1...\n",
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"Running Jaxadi benchmark for 1 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 2 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 4 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 16 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 32 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 64 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 128 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 256 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 512 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 1024 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 2048 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 4096 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 8192 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 16384 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 32768 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 65536 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 131072 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 262144 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 524288 environments with function fn_1e2...\n",
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"Running Jaxadi benchmark for 1048576 environments with function fn_1e2...\n",
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"Benchmark results saved.\n"
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]
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}
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]
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}
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]
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}

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