Increasing GPU memory usage

[MohammadHossein-Bahari]

Hi,

When I use the differentiable mpc in my code (installed using pip), Cuda memory gradually increases each iteration leading to memory error. It seems there is a memory leakage in the code.
Do you know where it is and what is the solution?

I use the following parameters:
x_pos, control, objs_lqr = mpc.MPC(
n_state=n_state,
n_ctrl=n_ctrl,
T=T,
u_lower=u_lower,
u_upper=u_upper,
lqr_iter=30,
verbose=-1,
n_batch=n_batch,
grad_method=GradMethods.AUTO_DIFF,
exit_unconverged=False,
detach_unconverged=True,
backprop=True,
slew_rate_penalty=0.001,
)(x_init, QuadCost(Q, p), dx)

Thanks

[Yansa2000]

Hi, I have met the same problem, have you solved it?