Add closed-form SOC step-size computation by govindchari · Pull Request #59 · qoco-org/qoco

govindchari · 2026-04-15T13:56:00Z

See Issue: #57 by @JonasBreuling

TODO:

Re-run QOCO benchmarks as a regression check
Implement same change in cone.cu
Re-run QOCO-GPU benchmarks as a regression check
Remove bisection iteration setting from code and documentation

github-actions · 2026-04-15T14:20:24Z

Download benchmark artifacts

Benchmark Summary

Baseline solved: 129 problems
Diff branch solved: 129 problems

Runtime regressions (> 5.0%)

BOYD2: diff=2.1465s, baseline=2.0183s, Δ=+6.4%
CVXQP1_S: diff=0.0004s, baseline=0.0004s, Δ=+6.7%
LASER: diff=0.0029s, baseline=0.0028s, Δ=+5.9%
PRIMALC2: diff=0.0016s, baseline=0.0015s, Δ=+7.5%
QRECIPE: diff=0.0010s, baseline=0.0009s, Δ=+5.2%
QSCFXM3: diff=0.0197s, baseline=0.0185s, Δ=+6.4%
QSHARE1B: diff=0.0018s, baseline=0.0018s, Δ=+5.3%

Runtime improvements (> 5.0%)

CONT-300: diff=17.1516s, baseline=18.5397s, Δ=-7.5%
DUAL4: diff=0.0011s, baseline=0.0012s, Δ=-7.2%
HS21: diff=0.0000s, baseline=0.0000s, Δ=-7.7%
HS35MOD: diff=0.0000s, baseline=0.0000s, Δ=-7.1%
HS53: diff=0.0000s, baseline=0.0000s, Δ=-6.7%
S268: diff=0.0000s, baseline=0.0000s, Δ=-6.2%

govindchari · 2026-04-15T14:48:07Z

@JonasBreuling Do you see better performance on your SOCPs with this branch?

JonasBreuling · 2026-04-15T16:01:10Z

I can check this tomorrow. But my hope is to improve robustness and getting rid of another paramer that has to be chosen.

govindchari · 2026-04-15T16:04:46Z

I can check this tomorrow. But my hope is to improve robustness and getting rid of another paramer that has to be chosen.

Great let me know when you get around to it and if it works. In the meantime I'll make the changes on the GPU side and check for regressions there. If you see improved performance on your problems tomorrow I'll merge and make a new release.

github-actions · 2026-04-15T17:28:36Z

Download benchmark artifacts

Benchmark Summary

Baseline solved: 129 problems
Diff branch solved: 129 problems

Runtime regressions (> 5.0%)

BOYD2: diff=2.7024s, baseline=2.5041s, Δ=+7.9%
CVXQP1_M: diff=0.0738s, baseline=0.0667s, Δ=+10.6%
CVXQP1_S: diff=0.0007s, baseline=0.0005s, Δ=+31.3%
DUALC1: diff=0.0014s, baseline=0.0013s, Δ=+7.5%
DUALC5: diff=0.0007s, baseline=0.0007s, Δ=+6.2%
DUALC8: diff=0.0017s, baseline=0.0016s, Δ=+5.0%
GOULDQP2: diff=0.0022s, baseline=0.0020s, Δ=+5.4%
LASER: diff=0.0037s, baseline=0.0035s, Δ=+5.4%
PRIMAL1: diff=0.0043s, baseline=0.0041s, Δ=+5.2%
QADLITTL: diff=0.0004s, baseline=0.0004s, Δ=+9.8%
QGFRDXPN: diff=0.0068s, baseline=0.0064s, Δ=+5.4%
QPCBLEND: diff=0.0007s, baseline=0.0006s, Δ=+5.4%
QSCFXM2: diff=0.0172s, baseline=0.0162s, Δ=+6.1%
QSCFXM3: diff=0.0259s, baseline=0.0245s, Δ=+5.7%
QSEBA: diff=0.0102s, baseline=0.0095s, Δ=+6.8%
QSHARE1B: diff=0.0024s, baseline=0.0023s, Δ=+5.3%
QSHIP04L: diff=0.0074s, baseline=0.0070s, Δ=+5.6%
QSHIP04S: diff=0.0053s, baseline=0.0050s, Δ=+5.5%
S268: diff=0.0000s, baseline=0.0000s, Δ=+5.3%

Runtime improvements (> 5.0%)

CVXQP2_L: diff=22.3937s, baseline=26.9272s, Δ=-16.8%
GENHS28: diff=0.0000s, baseline=0.0000s, Δ=-16.7%
HS21: diff=0.0000s, baseline=0.0000s, Δ=-6.2%
HS35: diff=0.0000s, baseline=0.0000s, Δ=-7.7%
HS35MOD: diff=0.0000s, baseline=0.0000s, Δ=-5.6%
HS76: diff=0.0000s, baseline=0.0000s, Δ=-5.6%
LOTSCHD: diff=0.0000s, baseline=0.0000s, Δ=-5.0%
QPTEST: diff=0.0000s, baseline=0.0000s, Δ=-7.7%
TAME: diff=0.0000s, baseline=0.0000s, Δ=-10.0%

github-actions · 2026-04-15T18:14:29Z

Download benchmark artifacts

Benchmark Summary

Baseline solved: 129 problems
Diff branch solved: 129 problems

Runtime regressions (> 5.0%)

BOYD2: diff=2.5837s, baseline=2.4430s, Δ=+5.8%
CONT-300: diff=23.5975s, baseline=22.2537s, Δ=+6.0%
CVXQP3_S: diff=0.0007s, baseline=0.0006s, Δ=+5.0%
DUALC1: diff=0.0013s, baseline=0.0012s, Δ=+6.7%
DUALC8: diff=0.0017s, baseline=0.0015s, Δ=+6.9%
GOULDQP2: diff=0.0023s, baseline=0.0020s, Δ=+16.3%
GOULDQP3: diff=0.0016s, baseline=0.0015s, Δ=+7.2%
PRIMALC1: diff=0.0028s, baseline=0.0023s, Δ=+18.6%
QBANDM: diff=0.0049s, baseline=0.0046s, Δ=+6.6%
QBEACONF: diff=0.0026s, baseline=0.0025s, Δ=+5.7%
QCAPRI: diff=0.0092s, baseline=0.0087s, Δ=+5.3%
QGFRDXPN: diff=0.0066s, baseline=0.0063s, Δ=+5.3%
QGROW15: diff=0.0090s, baseline=0.0084s, Δ=+6.3%
QPCBOEI2: diff=0.0039s, baseline=0.0037s, Δ=+5.5%
QRECIPE: diff=0.0012s, baseline=0.0011s, Δ=+6.6%
QSCAGR25: diff=0.0024s, baseline=0.0023s, Δ=+5.1%
QSCAGR7: diff=0.0006s, baseline=0.0006s, Δ=+9.6%
QSCFXM1: diff=0.0068s, baseline=0.0063s, Δ=+6.4%
QSCFXM3: diff=0.0258s, baseline=0.0243s, Δ=+6.5%
QSCORPIO: diff=0.0018s, baseline=0.0017s, Δ=+5.2%
QSCRS8: diff=0.0080s, baseline=0.0076s, Δ=+5.6%
QSEBA: diff=0.0099s, baseline=0.0092s, Δ=+7.0%
S268: diff=0.0000s, baseline=0.0000s, Δ=+135.3%
TAME: diff=0.0000s, baseline=0.0000s, Δ=+12.5%
UBH1: diff=0.0308s, baseline=0.0288s, Δ=+6.7%

Runtime improvements (> 5.0%)

GENHS28: diff=0.0000s, baseline=0.0000s, Δ=-20.0%
HS21: diff=0.0000s, baseline=0.0000s, Δ=-6.7%
HS268: diff=0.0000s, baseline=0.0000s, Δ=-15.0%
HS76: diff=0.0000s, baseline=0.0000s, Δ=-5.9%
LOTSCHD: diff=0.0000s, baseline=0.0001s, Δ=-37.5%
QPTEST: diff=0.0000s, baseline=0.0000s, Δ=-8.3%

github-actions · 2026-04-15T19:26:12Z

Download benchmark artifacts

Benchmark Summary

Baseline solved: 129 problems
Diff branch solved: 129 problems

Runtime regressions (> 5.0%)

BOYD2: diff=2.5372s, baseline=2.3708s, Δ=+7.0%
CVXQP1_S: diff=0.0005s, baseline=0.0005s, Δ=+6.3%
DUALC8: diff=0.0017s, baseline=0.0016s, Δ=+6.4%
GOULDQP2: diff=0.0021s, baseline=0.0019s, Δ=+6.5%
HS118: diff=0.0001s, baseline=0.0001s, Δ=+6.0%
LASER: diff=0.0035s, baseline=0.0033s, Δ=+6.0%
PRIMALC8: diff=0.0040s, baseline=0.0038s, Δ=+5.6%
QADLITTL: diff=0.0004s, baseline=0.0004s, Δ=+10.8%
QAFIRO: diff=0.0002s, baseline=0.0001s, Δ=+14.4%
QGFRDXPN: diff=0.0065s, baseline=0.0062s, Δ=+5.0%
QISRAEL: diff=0.0041s, baseline=0.0038s, Δ=+9.1%
QSCAGR7: diff=0.0006s, baseline=0.0006s, Δ=+5.2%
QSCTAP1: diff=0.0025s, baseline=0.0024s, Δ=+5.3%
QSEBA: diff=0.0098s, baseline=0.0093s, Δ=+5.4%
QSHIP04S: diff=0.0051s, baseline=0.0048s, Δ=+6.3%
QSIERRA: diff=0.0200s, baseline=0.0190s, Δ=+5.3%
TAME: diff=0.0000s, baseline=0.0000s, Δ=+50.0%

Runtime improvements (> 5.0%)

GENHS28: diff=0.0000s, baseline=0.0000s, Δ=-16.7%
QPTEST: diff=0.0000s, baseline=0.0000s, Δ=-8.3%
ZECEVIC2: diff=0.0000s, baseline=0.0000s, Δ=-7.7%

github-actions · 2026-04-15T20:02:15Z

Download benchmark artifacts

Benchmark Summary

Baseline solved: 129 problems
Diff branch solved: 129 problems

Runtime regressions (> 5.0%)

CONT-300: diff=26.5011s, baseline=24.2694s, Δ=+9.2%
CVXQP2_L: diff=29.7307s, baseline=26.8519s, Δ=+10.7%
DUAL1: diff=0.0024s, baseline=0.0021s, Δ=+11.7%
DUAL3: diff=0.0037s, baseline=0.0035s, Δ=+6.1%
DUALC1: diff=0.0014s, baseline=0.0012s, Δ=+11.6%
DUALC2: diff=0.0010s, baseline=0.0008s, Δ=+18.5%
DUALC8: diff=0.0018s, baseline=0.0016s, Δ=+18.5%
HS118: diff=0.0001s, baseline=0.0001s, Δ=+28.4%
LASER: diff=0.0036s, baseline=0.0033s, Δ=+6.6%
QADLITTL: diff=0.0004s, baseline=0.0004s, Δ=+5.0%
QE226: diff=0.0053s, baseline=0.0050s, Δ=+7.3%
QPCBLEND: diff=0.0006s, baseline=0.0006s, Δ=+12.4%
QPCBOEI2: diff=0.0040s, baseline=0.0037s, Δ=+7.8%
QSC205: diff=0.0010s, baseline=0.0010s, Δ=+5.6%
QSCTAP3: diff=0.0199s, baseline=0.0188s, Δ=+5.7%
QSEBA: diff=0.0098s, baseline=0.0092s, Δ=+7.3%
QSHARE2B: diff=0.0009s, baseline=0.0008s, Δ=+10.3%
QSHIP04L: diff=0.0071s, baseline=0.0068s, Δ=+5.2%
QSHIP04S: diff=0.0051s, baseline=0.0048s, Δ=+6.7%
QSIERRA: diff=0.0201s, baseline=0.0189s, Δ=+6.5%
STADAT2: diff=0.0144s, baseline=0.0137s, Δ=+5.2%
TAME: diff=0.0000s, baseline=0.0000s, Δ=+12.5%

Runtime improvements (> 5.0%)

AUG2D: diff=0.0091s, baseline=0.0118s, Δ=-23.2%
HS21: diff=0.0000s, baseline=0.0000s, Δ=-6.7%
HS53: diff=0.0000s, baseline=0.0000s, Δ=-22.7%
HS76: diff=0.0000s, baseline=0.0000s, Δ=-5.9%
LOTSCHD: diff=0.0000s, baseline=0.0000s, Δ=-5.4%
S268: diff=0.0000s, baseline=0.0000s, Δ=-5.6%

…/qoco into gc/closed-form-soc-step

github-actions · 2026-04-16T00:51:46Z

Download benchmark artifacts

Benchmark Summary

Baseline solved: 129 problems
Diff branch solved: 129 problems

Runtime regressions (> 5.0%)

DUALC1: diff=0.0013s, baseline=0.0012s, Δ=+7.2%
DUALC5: diff=0.0007s, baseline=0.0006s, Δ=+9.7%
GENHS28: diff=0.0000s, baseline=0.0000s, Δ=+25.0%
GOULDQP2: diff=0.0020s, baseline=0.0019s, Δ=+5.3%
LASER: diff=0.0035s, baseline=0.0033s, Δ=+5.2%
QBORE3D: diff=0.0024s, baseline=0.0023s, Δ=+6.9%
QGFRDXPN: diff=0.0066s, baseline=0.0062s, Δ=+7.4%
QPCBOEI1: diff=0.0084s, baseline=0.0080s, Δ=+5.5%
QPCBOEI2: diff=0.0039s, baseline=0.0037s, Δ=+6.0%
QSCFXM2: diff=0.0180s, baseline=0.0171s, Δ=+5.0%
QSCFXM3: diff=0.0260s, baseline=0.0246s, Δ=+5.5%
QSEBA: diff=0.0098s, baseline=0.0092s, Δ=+6.4%
QSHIP04L: diff=0.0072s, baseline=0.0068s, Δ=+6.0%
QSHIP04S: diff=0.0052s, baseline=0.0048s, Δ=+8.9%
QSIERRA: diff=0.0200s, baseline=0.0187s, Δ=+6.8%
QSTANDAT: diff=0.0076s, baseline=0.0072s, Δ=+6.2%
STADAT1: diff=0.0166s, baseline=0.0158s, Δ=+5.2%
STADAT2: diff=0.0142s, baseline=0.0134s, Δ=+5.4%
STADAT3: diff=0.0273s, baseline=0.0259s, Δ=+5.2%
UBH1: diff=0.0300s, baseline=0.0284s, Δ=+5.7%

Runtime improvements (> 5.0%)

CONT-300: diff=21.4202s, baseline=23.0204s, Δ=-7.0%
HS118: diff=0.0001s, baseline=0.0001s, Δ=-20.0%
HS21: diff=0.0000s, baseline=0.0000s, Δ=-6.7%
QAFIRO: diff=0.0001s, baseline=0.0002s, Δ=-13.0%

github-actions · 2026-04-16T01:01:03Z

Download benchmark artifacts

Benchmark Summary

Baseline solved: 129 problems
Diff branch solved: 129 problems

Runtime regressions (> 5.0%)

AUG2DQP: diff=0.1358s, baseline=0.1236s, Δ=+9.9%
BOYD2: diff=2.6181s, baseline=2.4642s, Δ=+6.2%
CVXQP2_L: diff=24.9942s, baseline=23.1279s, Δ=+8.1%
DUALC1: diff=0.0014s, baseline=0.0013s, Δ=+7.3%
DUALC8: diff=0.0017s, baseline=0.0016s, Δ=+5.4%
GOULDQP2: diff=0.0021s, baseline=0.0020s, Δ=+5.1%
HS268: diff=0.0000s, baseline=0.0000s, Δ=+5.3%
LISWET5: diff=0.0220s, baseline=0.0204s, Δ=+7.7%
QBORE3D: diff=0.0025s, baseline=0.0023s, Δ=+7.2%
QE226: diff=0.0052s, baseline=0.0050s, Δ=+5.1%
QGFRDXPN: diff=0.0068s, baseline=0.0065s, Δ=+5.1%
QGROW7: diff=0.0045s, baseline=0.0042s, Δ=+5.7%
QPCBLEND: diff=0.0006s, baseline=0.0006s, Δ=+6.4%
QPCBOEI1: diff=0.0082s, baseline=0.0077s, Δ=+6.0%
QPCBOEI2: diff=0.0040s, baseline=0.0038s, Δ=+5.6%
QPTEST: diff=0.0000s, baseline=0.0000s, Δ=+133.3%
QSCAGR25: diff=0.0026s, baseline=0.0024s, Δ=+8.6%
QSCFXM2: diff=0.0179s, baseline=0.0169s, Δ=+6.0%
QSCFXM3: diff=0.0262s, baseline=0.0248s, Δ=+5.9%
QSCSD1: diff=0.0027s, baseline=0.0026s, Δ=+5.3%
QSHARE1B: diff=0.0024s, baseline=0.0023s, Δ=+5.7%
QSHIP04L: diff=0.0074s, baseline=0.0071s, Δ=+5.2%
QSIERRA: diff=0.0207s, baseline=0.0196s, Δ=+5.7%

Runtime improvements (> 5.0%)

HS21: diff=0.0000s, baseline=0.0000s, Δ=-6.2%
HS35: diff=0.0000s, baseline=0.0000s, Δ=-7.7%
HS35MOD: diff=0.0000s, baseline=0.0000s, Δ=-5.6%
HS51: diff=0.0000s, baseline=0.0000s, Δ=-25.0%
HS52: diff=0.0000s, baseline=0.0000s, Δ=-25.0%
HS53: diff=0.0000s, baseline=0.0000s, Δ=-5.3%
TAME: diff=0.0000s, baseline=0.0000s, Δ=-10.0%
ZECEVIC2: diff=0.0000s, baseline=0.0000s, Δ=-6.7%

github-actions · 2026-04-16T02:15:44Z

Download benchmark artifacts

Benchmark Summary

Baseline solved: 129 problems
Diff branch solved: 129 problems

Runtime regressions (> 5.0%)

BOYD2: diff=2.4959s, baseline=2.3702s, Δ=+5.3%
CVXQP2_S: diff=0.0004s, baseline=0.0004s, Δ=+8.0%
DPKLO1: diff=0.0002s, baseline=0.0001s, Δ=+17.5%
DUAL2: diff=0.0023s, baseline=0.0022s, Δ=+5.6%
DUALC2: diff=0.0009s, baseline=0.0008s, Δ=+6.8%
DUALC5: diff=0.0007s, baseline=0.0006s, Δ=+7.2%
QBORE3D: diff=0.0024s, baseline=0.0022s, Δ=+7.3%
QCAPRI: diff=0.0093s, baseline=0.0088s, Δ=+5.9%
QGROW15: diff=0.0091s, baseline=0.0085s, Δ=+6.8%
QPCBOEI1: diff=0.0085s, baseline=0.0081s, Δ=+5.1%
QSCAGR7: diff=0.0006s, baseline=0.0006s, Δ=+8.8%
QSCFXM1: diff=0.0066s, baseline=0.0063s, Δ=+5.4%
QSCSD6: diff=0.0060s, baseline=0.0057s, Δ=+5.3%
QSEBA: diff=0.0097s, baseline=0.0092s, Δ=+6.0%
QSHIP04S: diff=0.0051s, baseline=0.0048s, Δ=+5.9%
STADAT3: diff=0.0277s, baseline=0.0262s, Δ=+5.6%

Runtime improvements (> 5.0%)

CVXQP2_L: diff=22.1191s, baseline=25.3305s, Δ=-12.7%
HS21: diff=0.0000s, baseline=0.0000s, Δ=-6.7%
HS35: diff=0.0000s, baseline=0.0000s, Δ=-70.3%

JonasBreuling · 2026-04-16T13:25:33Z

I can check this tomorrow. But my hope is to improve robustness and getting rid of another paramer that has to be chosen.

Great let me know when you get around to it and if it works. In the meantime I'll make the changes on the GPU side and check for regressions there. If you see improved performance on your problems tomorrow I'll merge and make a new release.

It works for my systems. The overall runtime is is slightly reduced and the stability is of the same order. I'm also using the Clarabel solver, which seems to be more stable in situations with tight tolerances. Do you know which features they may have implemented that improve stability? Possibly the broken equilibration step?

govindchari · 2026-04-16T13:34:33Z

How much is runtime reduced by?

I think equilibration is one factor that should help. Unfortunately every time I enable it, I see worse robustness on the Maros-Mészáros problem.

Another thing that may be a factor is the accuracy of the linear system solve. If you increase the number of iterative refinement iterations, QOCO should be more robust.

I do have a logging PR out for QOCO as well which I am hoping will help diagnose robustness issues.

JonasBreuling · 2026-04-16T13:43:17Z

How much is runtime reduced by?

I think equilibration is one factor that should help. Unfortunately every time I enable it, I see worse robustness on the Maros-Mészáros problem.

Another thing that may be a factor is the accuracy of the linear system solve. If you increase the number of iterative refinement iterations, QOCO should be more robust.

I do have a logging PR out for QOCO as well which I am hoping will help diagnose robustness issues.

Runtime is reduce by a few percents. So actually it is not really worth it.

I think Clarabel also used qldlt by default. So it should be comparable. But I can use really small static/dynamic regularization. QOCO requires larger values to remain stable. Hence, many iterative refinement steps are required to ensure tight tolerances can be met. But most of the time the solver diverges and cannot met the tolerances unless very specific tuning of regularization and iterative refinement is done

govindchari · 2026-04-16T14:16:15Z

I suppose the purpose of the exact line search is to remove the bisection parameter, so speedups isn't the primary purpose, so this feature is still useful.

I feel like if there are robustness issues with QOCO it must stem from the linear system solve. Of course Clarabel does Ruiz but QOCO doesn't which is one explanation. I think this will require a bit more digging, since pretty much all solvers but QOCO use Ruiz, so it should be helping.

Added closed-form soc stepsize computation

676ada7

govindchari mentioned this pull request Apr 15, 2026

Closed-form step length SOC #57

Closed

govindchari changed the title ~~Added closed-form soc stepsize computation~~ Add closed-form SOC step-size computation Apr 15, 2026

Added gpu version for soc

9c08723

Add step safeguard

091fbf7

Dont do reduction on gpu

5088642

Launch grid of 1024 threads

e77cc20

govindchari added 3 commits April 15, 2026 17:26

Remove bisect_iters

e037c47

Merge branch 'gc/closed-form-soc-step' of https://github.com/qoco-org…

3c5f7e1

…/qoco into gc/closed-form-soc-step

Add SOC step-size computation to developers guide

68e51ec

Edit developer guide

a959fbe

govindchari merged commit 54a2fe1 into main Apr 16, 2026
17 checks passed

govindchari mentioned this pull request Apr 17, 2026

Tightened reltol for TestQOCO.test_qoco_socp_1 cvxpy/cvxpy#3296

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