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Recent Releases of theseus-ai

theseus-ai - 0.2.2

What's Changed

  • Fixed bug in BaspachoSparseSolver preventing CPU usage if torch cuda available by @luisenp in https://github.com/facebookresearch/theseus/pull/585
  • Added commented out tests back to baspacho solver tests. by @luisenp in https://github.com/facebookresearch/theseus/pull/586
  • Yipuz.more robust loss by @YipuZhao in https://github.com/facebookresearch/theseus/pull/581
  • Update CI executor for GPU by @luisenp in https://github.com/facebookresearch/theseus/pull/608
  • Removed duplicate error computation in Local class by @luisenp in https://github.com/facebookresearch/theseus/pull/607
  • Modify Objective::erasefunction_variables(...) to also delete varia… by @Hesam-Vayu in https://github.com/facebookresearch/theseus/pull/612
  • Update pre-commit hooks and fix mypy errors by @luisenp in https://github.com/facebookresearch/theseus/pull/610
  • Objective.to() and TheseusLayer.to() now return self and support "cuda". by @luisenp in https://github.com/facebookresearch/theseus/pull/623
  • Improves to Timer and Profiler utils by @luisenp in https://github.com/facebookresearch/theseus/pull/628
  • Faster log map implementation by @luisenp in https://github.com/facebookresearch/theseus/pull/629
  • Fix broken backward graph when using LieTensor.exp() by @luisenp in https://github.com/facebookresearch/theseus/pull/631
  • Fix track best solution in nonlinear optimizer with matrix vars and implicit diff by @luisenp in https://github.com/facebookresearch/theseus/pull/637
  • Fix broken tests by @luisenp in https://github.com/facebookresearch/theseus/pull/658
  • Speedup VariableOrdering.append from O(N^2) to O(N) by @ahojnnes in https://github.com/facebookresearch/theseus/pull/657
  • Add EPS for sqrt in SO3 to_quaternion by @luisenp in https://github.com/facebookresearch/theseus/pull/661
  • link fix in readme by @mhmukadam in https://github.com/facebookresearch/theseus/pull/662

New Contributors

  • @YipuZhao made their first contribution in https://github.com/facebookresearch/theseus/pull/581
  • @Hesam-Vayu made their first contribution in https://github.com/facebookresearch/theseus/pull/612
  • @ahojnnes made their first contribution in https://github.com/facebookresearch/theseus/pull/657

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.2.1...0.2.2

- Python
Published by mhmukadam over 1 year ago

theseus-ai - 0.2.1

Major Updates

  • Temporarily fixed a bug for vmap by @fantaosha in https://github.com/facebookresearch/theseus/pull/562
  • fixed a bug in prismatic joint by @fantaosha in https://github.com/facebookresearch/theseus/pull/568
  • Added fallback for implicit mode if Gauss-Newton fails in the last step by @luisenp in https://github.com/facebookresearch/theseus/pull/579

Other Changes

  • Allow Python version to be passed to build script by @luisenp in https://github.com/facebookresearch/theseus/pull/567
  • fixed the rotation and translation order in pgo datasets by @fantaosha in https://github.com/facebookresearch/theseus/pull/560
  • Added Profiler util by @luisenp in https://github.com/facebookresearch/theseus/pull/571
  • Prevent update variables with device or dtype != Objective's by @luisenp in https://github.com/facebookresearch/theseus/pull/570
  • Bump torchkin version to v0.1.1. by @luisenp in https://github.com/facebookresearch/theseus/pull/572
  • Removed semantic version dependency. by @luisenp in https://github.com/facebookresearch/theseus/pull/574
  • Fix error in torch Lie API example. by @luisenp in https://github.com/facebookresearch/theseus/pull/575
  • Add urdf_parser_py fallback import by @luisenp in https://github.com/facebookresearch/theseus/pull/576
  • Add flake8 copyright by @luisenp in https://github.com/facebookresearch/theseus/pull/577
  • Fix broken sksparse install in CI by @luisenp in https://github.com/facebookresearch/theseus/pull/582
  • Bump version to 0.2.1 by @luisenp in https://github.com/facebookresearch/theseus/pull/583

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.2.0...0.2.1

- Python
Published by mhmukadam almost 3 years ago

theseus-ai - 0.2.0

This release brings Theseus to PyTorch >= 2.0.0 and updates backends for differentiable Lie groups and differentiable kinematics with the new streamlined and more efficient torchlie and torchkin from our team. Both torchlie and torchkin are independent PyPI installable libraries that are released as 0.1.0 along with this Theseus release.

Major Updates

  • Deprecated torch < 2.0.0. by @luisenp in https://github.com/facebookresearch/theseus/pull/525
  • Move torchlie out of labs by @luisenp in https://github.com/facebookresearch/theseus/pull/523
  • Graduate FK code out of labs by @luisenp in https://github.com/facebookresearch/theseus/pull/550
  • Add Differentiable CEM solver by @dishank-b in https://github.com/facebookresearch/theseus/pull/329
  • New NonlinearOptimizer hierarchy by @luisenp in https://github.com/facebookresearch/theseus/pull/440
  • Added utility to automatically check jacobians of a given cost function. by @luisenp in https://github.com/facebookresearch/theseus/pull/465
  • Added planning example with SE2 and nonholonomic cost by @luisenp in https://github.com/facebookresearch/theseus/pull/474
  • Add inverse kinematics example by @fantaosha in https://github.com/facebookresearch/theseus/pull/538

Other Changes

  • Detach the derivative though the Hessian by @bamos in https://github.com/facebookresearch/theseus/pull/425
  • Using resource_class:xlarge for complex CPU unit tests in CI. by @luisenp in https://github.com/facebookresearch/theseus/pull/447
  • Fixed error that was preventing requirements versions to be used in setup by @luisenp in https://github.com/facebookresearch/theseus/pull/448
  • Update to isort 5.11.5 in precommit. by @luisenp in https://github.com/facebookresearch/theseus/pull/453
  • Modified build scripts to support nightly packages. by @luisenp in https://github.com/facebookresearch/theseus/pull/467
  • Added SignedDistanceField2D.to() by @luisenp in https://github.com/facebookresearch/theseus/pull/468
  • Add a unit test to check the PGO loss values automatically by @luisenp in https://github.com/facebookresearch/theseus/pull/456
  • Minor fixes to motion planner code. by @luisenp in https://github.com/facebookresearch/theseus/pull/469
  • Change in data model in testtheseuslayer by @dishank-b in https://github.com/facebookresearch/theseus/pull/477
  • Change HingeCost to receive more flexible limits by @luisenp in https://github.com/facebookresearch/theseus/pull/491
  • Added experimental option allowing a variables to be both optim. and aux. by @luisenp in https://github.com/facebookresearch/theseus/pull/492
  • Made the optimizer configurable in the MotionPlanner. by @luisenp in https://github.com/facebookresearch/theseus/pull/493
  • Allow vmap to work on th.SE3 log_map by @rmurai0610 in https://github.com/facebookresearch/theseus/pull/495
  • Made the threshold for converting occupancy -> SDF configurable. by @luisenp in https://github.com/facebookresearch/theseus/pull/498
  • Make SDF boundary value configurable by @rmurai0610 in https://github.com/facebookresearch/theseus/pull/500
  • Fixed convergence check error in DCEM with negative error metrics. by @luisenp in https://github.com/facebookresearch/theseus/pull/510
  • Added an option to flatten_dims in RobustCostFunction. by @luisenp in https://github.com/facebookresearch/theseus/pull/503
  • Update pre-commit versions and skip failing mypy import tests. by @luisenp in https://github.com/facebookresearch/theseus/pull/518
  • Rename check functions by @fantaosha in https://github.com/facebookresearch/theseus/pull/516
  • Fix installing from source on Windows by explicitly mentioning cusparse in setup.py by @aiddun in https://github.com/facebookresearch/theseus/pull/534
  • Migrate SO3 (reissue) by @luisenp in https://github.com/facebookresearch/theseus/pull/539
  • Migrate SE3 backend to torchlie by @luisenp in https://github.com/facebookresearch/theseus/pull/526
  • Unit tests for left_project with broadcasting by @luisenp in https://github.com/facebookresearch/theseus/pull/527
  • Added configurable global options for torchlie and theseus by @luisenp in https://github.com/facebookresearch/theseus/pull/528
  • Adding some docs by @luisenp in https://github.com/facebookresearch/theseus/pull/529
  • Add other autograd options for AutoDiffCostFunction by @luisenp in https://github.com/facebookresearch/theseus/pull/532
  • Fix package info for building wheel by @luisenp in https://github.com/facebookresearch/theseus/pull/533
  • Fix SO3 rotate check by @luisenp in https://github.com/facebookresearch/theseus/pull/541
  • Add kwarg to disable manifold checks in constructor by @luisenp in https://github.com/facebookresearch/theseus/pull/540
  • Add extra eps for dlog by @fantaosha in https://github.com/facebookresearch/theseus/pull/544
  • Change Lie group import to torchlie by @luisenp in https://github.com/facebookresearch/theseus/pull/545
  • Fix a bug un precommit that was preventing isort and black from being run by @luisenp in https://github.com/facebookresearch/theseus/pull/546
  • Rename GlobalOptions as Params and remove duplication of some of them with torchlie by @luisenp in https://github.com/facebookresearch/theseus/pull/547
  • Removed Objective.errorsquarednorm() by @luisenp in https://github.com/facebookresearch/theseus/pull/548
  • Add README for torchlie by @luisenp in https://github.com/facebookresearch/theseus/pull/549
  • transform_from -> transform by @fantaosha in https://github.com/facebookresearch/theseus/pull/551
  • Add untransform by @fantaosha in https://github.com/facebookresearch/theseus/pull/552
  • Add d_near_zero to SE2 by @fantaosha in https://github.com/facebookresearch/theseus/pull/553
  • update torchlie readme by @mhmukadam in https://github.com/facebookresearch/theseus/pull/557
  • update theseus readme by @mhmukadam in https://github.com/facebookresearch/theseus/pull/558
  • Add torchkin example by @fantaosha in https://github.com/facebookresearch/theseus/pull/559
  • Update build_wheel.sh to properly use created conda environment by @JingyuQian in https://github.com/facebookresearch/theseus/pull/561

Development in labs Package

  • Add Lie groups functional library by @fantaosha in https://github.com/facebookresearch/theseus/pull/379
  • Some clean up of Lie Groups code by @luisenp in https://github.com/facebookresearch/theseus/pull/449
  • Restructures Lie groups labs package and adds LieTensor by @luisenp in https://github.com/facebookresearch/theseus/pull/450
  • Make LieTensor a subclass of torch.Tensor and override function/operators by @luisenp in https://github.com/facebookresearch/theseus/pull/452
  • Fixed broken compute graph in LieTensor.new() by @luisenp in https://github.com/facebookresearch/theseus/pull/478
  • Add forward kinematics package to labs by @fantaosha in https://github.com/facebookresearch/theseus/pull/415
  • Add transform_from to Lie group by @fantaosha in https://github.com/facebookresearch/theseus/pull/483
  • Update Labs API by @luisenp in https://github.com/facebookresearch/theseus/pull/488
  • Lie Labs API v3 by @luisenp in https://github.com/facebookresearch/theseus/pull/494
  • Lie Labs API example by @luisenp in https://github.com/facebookresearch/theseus/pull/476
  • fixed bugs for jacobians of transform_from by @fantaosha in https://github.com/facebookresearch/theseus/pull/505
  • Add labs.lie support for functorch and vmap pt. 1 by @luisenp in https://github.com/facebookresearch/theseus/pull/504
  • Implement SE3.normalize() by @fantaosha in https://github.com/facebookresearch/theseus/pull/506
  • Update checks to be consistent with multi-batch implementation by @fantaosha in https://github.com/facebookresearch/theseus/pull/508
  • Implementation of multi-batch unary Lie group operators by @fantaosha in https://github.com/facebookresearch/theseus/pull/509
  • Add multi-batch support for SE(3) unary operators by @fantaosha in https://github.com/facebookresearch/theseus/pull/512
  • Add multi-batch compose() and transform_from() for SO(3) and SE(3) by @fantaosha in https://github.com/facebookresearch/theseus/pull/513
  • Implemented multi-batch gradient ops by @fantaosha in https://github.com/facebookresearch/theseus/pull/515
  • Multi-batch unit tests for Lie groups by @luisenp in https://github.com/facebookresearch/theseus/pull/522
  • Refactored FK to support vmap and other staff by @fantaosha in https://github.com/facebookresearch/theseus/pull/543

New Contributors

  • @dishank-b made their first contribution in https://github.com/facebookresearch/theseus/pull/477
  • @rmurai0610 made their first contribution in https://github.com/facebookresearch/theseus/pull/495
  • @aiddun made their first contribution in https://github.com/facebookresearch/theseus/pull/534
  • @JingyuQian made their first contribution in https://github.com/facebookresearch/theseus/pull/561

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.1.4...0.2.0

- Python
Published by mhmukadam almost 3 years ago

theseus-ai - 0.1.4

This code release is also associated with arXiv v3 paper release.

Major Updates

  • Add sparse solvers support to LM adaptive damping by @luisenp in https://github.com/facebookresearch/theseus/pull/360
  • Add a differentiable sparse matrix vector product on top of our ops by @luisenp in https://github.com/facebookresearch/theseus/pull/392
  • Dogleg by @luisenp in https://github.com/facebookresearch/theseus/pull/371
  • Add support for masking jacobians of zero weights in the batch by @luisenp in https://github.com/facebookresearch/theseus/pull/398
  • Add a labs package for experimental stuff by @luisenp in https://github.com/facebookresearch/theseus/pull/424

Other Changes

  • Minor vmap fix in SO2 by @luisenp in https://github.com/facebookresearch/theseus/pull/362
  • Change Objective.error() so it can be vectorized w/o changing vectorized cache by @luisenp in https://github.com/facebookresearch/theseus/pull/363
  • Added missing square in test_theseus_layer loss. by @luisenp in https://github.com/facebookresearch/theseus/pull/372
  • Add proper accept/reject logic for LM optimizer by @luisenp in https://github.com/facebookresearch/theseus/pull/364
  • Cleaned up sparse solvers code by @luisenp in https://github.com/facebookresearch/theseus/pull/386
  • Remove softmax from end to end test and do some clean up by @luisenp in https://github.com/facebookresearch/theseus/pull/389
  • Add a workaround for NonlinearOptimizer rejecting all batch steps by @luisenp in https://github.com/facebookresearch/theseus/pull/388
  • Add code to automatically pick number of LUCuda contexts by @luisenp in https://github.com/facebookresearch/theseus/pull/390
  • Bug fix in NonlinearOptimizer.reset() when using LUCudaSparseSolver by @luisenp in https://github.com/facebookresearch/theseus/pull/396
  • Allow float data to be used with our sparse solver extensions by @luisenp in https://github.com/facebookresearch/theseus/pull/391
  • Add diagonal scaling method and re-enable LM adaptive + ellipsoidal by @luisenp in https://github.com/facebookresearch/theseus/pull/393
  • Add a timer util that adapts to a torch.device. by @luisenp in https://github.com/facebookresearch/theseus/pull/399
  • Made torch's CUDAGCCVERSION check optional in setup.py. by @luisenp in https://github.com/facebookresearch/theseus/pull/387
  • Fix black and wheel script errors by @luisenp in https://github.com/facebookresearch/theseus/pull/421
  • Fix bug in Vectorization of autodiff costs. by @luisenp in https://github.com/facebookresearch/theseus/pull/400
  • Objective.error() no longer updates vectorization if also_update=False. by @luisenp in https://github.com/facebookresearch/theseus/pull/401
  • update flake8 to github by @bamos in https://github.com/facebookresearch/theseus/pull/428
  • Use IMPLICIT for testtheseuslayer and fix related bugs by @luisenp in https://github.com/facebookresearch/theseus/pull/431
  • Remove nox dependency by @luisenp in https://github.com/facebookresearch/theseus/pull/436
  • Bumped version to 0.1.4. by @luisenp in https://github.com/facebookresearch/theseus/pull/435

Development in labs package

  • Add theseus.geometry.functional.so3 module with exp() and jexp() implementations by @fantaosha in https://github.com/facebookresearch/theseus/pull/365
  • Add theseus.geometry.functional.so3.adjoint() by @fantaosha in https://github.com/facebookresearch/theseus/pull/373
  • Add theseus.geometry.functional.so3.inverse() by @fantaosha in https://github.com/facebookresearch/theseus/pull/374
  • Add hat() and vee() operators to theseus.geometry.so3 by @fantaosha in https://github.com/facebookresearch/theseus/pull/378

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.1.3...0.1.4

- Python
Published by mhmukadam over 3 years ago

theseus-ai - 0.1.3

Major Updates

  • Adaptive damping for Levenberg-Marquardt by @luisenp in https://github.com/facebookresearch/theseus/pull/328
  • Moved all unit tests to a separate folder by @luisenp in https://github.com/facebookresearch/theseus/pull/352

Other Changes

  • Removed manual cmake install for CPU tests. by @luisenp in https://github.com/facebookresearch/theseus/pull/338
  • Fixed vmap related bug breaking homography ex. with sparse solvers. by @luisenp in https://github.com/facebookresearch/theseus/pull/337
  • Small vectorization improvements by @luisenp in https://github.com/facebookresearch/theseus/pull/336
  • Change CI to separately handle torch >= 1.13 by @luisenp in https://github.com/facebookresearch/theseus/pull/345
  • Fixed quaternion bug at pi by @fantaosha in https://github.com/facebookresearch/theseus/pull/344
  • Expose Lie Groups checks at root level by @luisenp in https://github.com/facebookresearch/theseus/pull/335
  • Added option for making LieGroup checks silent. by @luisenp in https://github.com/facebookresearch/theseus/pull/351
  • Added a few other CUDA versions to build script. by @luisenp in https://github.com/facebookresearch/theseus/pull/349
  • Set vectorization off by default when using optimizers w/o TheseusLayer by @luisenp in https://github.com/facebookresearch/theseus/pull/350
  • Some more cleanup before 0.1.3 by @luisenp in https://github.com/facebookresearch/theseus/pull/353
  • Add tests for wheels in CI by @luisenp in https://github.com/facebookresearch/theseus/pull/354
  • #355 Add device parameter to UrdfRobotModel by @thomasweng15 in https://github.com/facebookresearch/theseus/pull/356
  • Added th.device to represent both str and torch.device. by @luisenp in https://github.com/facebookresearch/theseus/pull/357
  • Update to 0.1.3 by @luisenp in https://github.com/facebookresearch/theseus/pull/358

New Contributors

  • @thomasweng15 made their first contribution in https://github.com/facebookresearch/theseus/pull/356

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.1.2...0.1.3

- Python
Published by mhmukadam over 3 years ago

theseus-ai - 0.1.2

This code release is also associated with arXiv v2 paper release.

Major Updates

  • Add support for BaSpaCho sparse solver by @maurimo in https://github.com/facebookresearch/theseus/pull/324
  • Set vmap as the default autograd mode for autodiff cost function. by @luisenp in https://github.com/facebookresearch/theseus/pull/313

Other Changes

  • Changed homography example to allow benchmarking only cost computation by @luisenp in https://github.com/facebookresearch/theseus/pull/311
  • Run isort on all files by @luisenp in https://github.com/facebookresearch/theseus/pull/312
  • Added usort:skip tags. by @luisenp in https://github.com/facebookresearch/theseus/pull/314
  • Fixed checkout tag syntax in build script. by @luisenp in https://github.com/facebookresearch/theseus/pull/315
  • Removed redundant directory in homography gif save. by @luisenp in https://github.com/facebookresearch/theseus/pull/316
  • Fixing simple example by @Gralerfics in https://github.com/facebookresearch/theseus/pull/320
  • AutodiffCostFunction now expands tensors with batch size 1 before running vmap by @luisenp in https://github.com/facebookresearch/theseus/pull/327
  • Deprecated FULL backward mode (now UNROLL). by @luisenp in https://github.com/facebookresearch/theseus/pull/332
  • Using better names for CHOLMOD solver python files. by @luisenp in https://github.com/facebookresearch/theseus/pull/333

New Contributors

  • @Gralerfics made their first contribution in https://github.com/facebookresearch/theseus/pull/320

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.1.1...0.1.2

- Python
Published by mhmukadam over 3 years ago

theseus-ai - 0.1.1

Highlights

  • Added pip install theseus-ai instructions. by @luisenp in https://github.com/facebookresearch/theseus/pull/276
  • Add functorch support for AutoDiffCostFunction by @fantaosha in https://github.com/facebookresearch/theseus/pull/268
  • Profile AutoDiffCostFunction and refactor the homography example by @fantaosha in https://github.com/facebookresearch/theseus/pull/296

What's Changed

  • update pose graph data link by @fantaosha in https://github.com/facebookresearch/theseus/pull/256
  • [homography] Use kornia lib properly for perspective transform by @ddetone in https://github.com/facebookresearch/theseus/pull/258
  • Small Update to 00_introduction.ipynb by @NeilPandya in https://github.com/facebookresearch/theseus/pull/259
  • Changed SDF constructor to accept more convenient data types. by @luisenp in https://github.com/facebookresearch/theseus/pull/260
  • Fixed small bugs in MotionPlanner class by @luisenp in https://github.com/facebookresearch/theseus/pull/261
  • Added option to visualize SDF to trajectory visualization function by @luisenp in https://github.com/facebookresearch/theseus/pull/263
  • update readme by @mhmukadam in https://github.com/facebookresearch/theseus/pull/264
  • Added MotionPlanner.forward() method. by @luisenp in https://github.com/facebookresearch/theseus/pull/267
  • Small bug fixes and tweaks to generatetrajectoryfigs. by @luisenp in https://github.com/facebookresearch/theseus/pull/271
  • Added a script for building wheels on a new docker image. by @luisenp in https://github.com/facebookresearch/theseus/pull/257
  • Bugfix: homography estimation - create data folder before downloading data by @luizgh in https://github.com/facebookresearch/theseus/pull/275
  • Added pip install theseus-ai instructions. by @luisenp in https://github.com/facebookresearch/theseus/pull/276
  • Refactored MotionPlanner so that objective can be passed separately. by @luisenp in https://github.com/facebookresearch/theseus/pull/277
  • add numel() to Manifold and Lie groups by @fantaosha in https://github.com/facebookresearch/theseus/pull/280
  • Add support for SE2 poses in Collision2D by @luisenp in https://github.com/facebookresearch/theseus/pull/278
  • Probabilistically correct SO(3) sampling by @brentyi in https://github.com/facebookresearch/theseus/pull/286
  • Refactor SO3 and SE3 to be consistent with functorch by @fantaosha in https://github.com/facebookresearch/theseus/pull/266
  • Add SE2 support in MotionPlanner by @luisenp in https://github.com/facebookresearch/theseus/pull/282
  • Fixed bug in visualization of SE2 motion plans. by @luisenp in https://github.com/facebookresearch/theseus/pull/293
  • Add functorch support for AutoDiffCostFunction by @fantaosha in https://github.com/facebookresearch/theseus/pull/268
  • Changed requirements so that main.txt only includes essential dependencies by @luisenp in https://github.com/facebookresearch/theseus/pull/294
  • Add to_quaternion, rotation, translation and convention comment by @fantaosha in https://github.com/facebookresearch/theseus/pull/295
  • Added th.as_variable() function to simplify creating new variables. by @luisenp in https://github.com/facebookresearch/theseus/pull/299
  • Added an optional end-of-step callback to NonlinearOptimizer.optimize(). by @luisenp in https://github.com/facebookresearch/theseus/pull/297
  • Add AutogradMode to AutoDiffCostFunction by @fantaosha in https://github.com/facebookresearch/theseus/pull/300
  • Profile AutoDiffCostFunction and refactor the homography example by @fantaosha in https://github.com/facebookresearch/theseus/pull/296
  • Changed unit tests so that the batch sizes to tests are defined in a central import by @luisenp in https://github.com/facebookresearch/theseus/pull/298
  • enhance the efficiency of Objectve.add() by @Christopher6488 in https://github.com/facebookresearch/theseus/pull/303
  • Added missing end newlines by @luisenp in https://github.com/facebookresearch/theseus/pull/307
  • Rename BackwardMode.FULL --> UNROLL and simplify backward mode config by @luisenp in https://github.com/facebookresearch/theseus/pull/305
  • Simplified autograd mode specification. by @luisenp in https://github.com/facebookresearch/theseus/pull/306
  • Clean up testtheseuslayer by @luisenp in https://github.com/facebookresearch/theseus/pull/308
  • update readme and bump version by @mhmukadam in https://github.com/facebookresearch/theseus/pull/309

New Contributors

  • @NeilPandya made their first contribution in https://github.com/facebookresearch/theseus/pull/259
  • @luizgh made their first contribution in https://github.com/facebookresearch/theseus/pull/275
  • @brentyi made their first contribution in https://github.com/facebookresearch/theseus/pull/286
  • @Christopher6488 made their first contribution in https://github.com/facebookresearch/theseus/pull/303

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.1.0...0.1.1

- Python
Published by mhmukadam over 3 years ago

theseus-ai - 0.1.0

This code release is also associated with arXiv v1 paper release.

What's Changed

  • Add SO3 support by @luisenp in https://github.com/facebookresearch/theseus/pull/46
  • Taoshaf.add so3 class by @fantaosha in https://github.com/facebookresearch/theseus/pull/65
  • Add SO3 rotate and unrotate by @fantaosha in https://github.com/facebookresearch/theseus/pull/57
  • add so3.hatmatrix_check() by @fantaosha in https://github.com/facebookresearch/theseus/pull/59
  • Encapsulated data loading functions in tactile pushing example into a new class by @luisenp in https://github.com/facebookresearch/theseus/pull/51
  • Added a TactilePoseEstimator class to easily create TheseusLayer for tactile pushing by @luisenp in https://github.com/facebookresearch/theseus/pull/52
  • Refactor tactile pushing model interface by @luisenp in https://github.com/facebookresearch/theseus/pull/55
  • Minor fixes 02/01/2022 by @luisenp in https://github.com/facebookresearch/theseus/pull/66
  • add adjoint, hat and vee for SE3 by @fantaosha in https://github.com/facebookresearch/theseus/pull/68
  • Add SE3.expmap() and SE3.logmap() by @fantaosha in https://github.com/facebookresearch/theseus/pull/71
  • Add SE3.compose() by @fantaosha in https://github.com/facebookresearch/theseus/pull/72
  • add SE3.transformfrom and SE3.transformto by @fantaosha in https://github.com/facebookresearch/theseus/pull/80
  • Updated to CircleCI's next-gen images. by @luisenp in https://github.com/facebookresearch/theseus/pull/89
  • Updated README with libsuitesparse installation instructions. by @luisenp in https://github.com/facebookresearch/theseus/pull/90
  • Added kwarg to NonlinearOptimizer.optimizer() for tracking error history by @luisenp in https://github.com/facebookresearch/theseus/pull/82
  • Merge infos results for truncated backward modes by @luisenp in https://github.com/facebookresearch/theseus/pull/83
  • Fix Issue 88 by @maurimo in https://github.com/facebookresearch/theseus/pull/97
  • Fixed bug in Variable.update() that was breaking torch graph... by @luisenp in https://github.com/facebookresearch/theseus/pull/96
  • Forced Gauss-Newton step for last iterations of truncated backward. by @luisenp in https://github.com/facebookresearch/theseus/pull/81
  • Add automatic differentiation on the Lie group tangent space by @fantaosha in https://github.com/facebookresearch/theseus/pull/74
  • Add rand() to LieGroup by @fantaosha in https://github.com/facebookresearch/theseus/pull/95
  • Fix SO2 rotate and unrotate jacobian by @fantaosha in https://github.com/facebookresearch/theseus/pull/58
  • Add projection for sparse Jacobian matrices by @fantaosha in https://github.com/facebookresearch/theseus/pull/98
  • Add LieGroup Support for AutoDiffFunction by @fantaosha in https://github.com/facebookresearch/theseus/pull/99
  • Add SE2.transform from() and fix shape bugs in SE2.transform_to() by @fantaosha in https://github.com/facebookresearch/theseus/pull/103
  • Switch SE3.transformfrom and SE3.transformto by @fantaosha in https://github.com/facebookresearch/theseus/pull/104
  • Enabled back ellipsoidal damping in LM with linear solvers support checks by @luisenp in https://github.com/facebookresearch/theseus/pull/87
  • Changed name of pytest mark for CUDA extensions. by @luisenp in https://github.com/facebookresearch/theseus/pull/102
  • Fix backpropagation bugs in SO3 and SE3 log_map by @fantaosha in https://github.com/facebookresearch/theseus/pull/109
  • Add analytical jacobians for LieGroup.exp_map by @fantaosha in https://github.com/facebookresearch/theseus/pull/110
  • error and errorsquaredNorm optional data by @jeffin07 in https://github.com/facebookresearch/theseus/pull/105
  • Add analytical derivatives for LieGroup.log_map() by @fantaosha in https://github.com/facebookresearch/theseus/pull/114
  • Refactor SO3.to_quaternion to fix backward bugs and improve the accuracy around pi by @fantaosha in https://github.com/facebookresearch/theseus/pull/116
  • Change RobotModel.forward_kinematics() interface by @luisenp in https://github.com/facebookresearch/theseus/pull/94
  • Added error handling for missing matplotlib and omegaconf installation when using theg by @luisenp in https://github.com/facebookresearch/theseus/pull/119
  • Add jacobians argument to expmap and logmap functions by @joeaortiz in https://github.com/facebookresearch/theseus/pull/122
  • Add pose graph optimization example by @fantaosha in https://github.com/facebookresearch/theseus/pull/118
  • Added 'secret' option to keep constant step size when using truncated… by @luisenp in https://github.com/facebookresearch/theseus/pull/130
  • Add jacobians for LieGroup.local() by @fantaosha in https://github.com/facebookresearch/theseus/pull/129
  • Added method to update SE2 from xytheta. by @luisenp in https://github.com/facebookresearch/theseus/pull/131
  • A complete version of Bundle Adjusment by @luisenp in https://github.com/facebookresearch/theseus/pull/117
  • Fixed jacobians for Between and VariableDifference by @fantaosha in https://github.com/facebookresearch/theseus/pull/133
  • Added batching support to tactile pushing example. by @luisenp in https://github.com/facebookresearch/theseus/pull/132
  • Changed tactile pose example optim var initialization to use start pose for all vars by @luisenp in https://github.com/facebookresearch/theseus/pull/137
  • Override Vector operators in Point2 and Point3 by @jeffin07 in https://github.com/facebookresearch/theseus/pull/124
  • Merge Between and VariableDiff with RelativePoseError and PosePriorError by @fantaosha in https://github.com/facebookresearch/theseus/pull/136
  • Fix a bug in Objective.copy() by @fantaosha in https://github.com/facebookresearch/theseus/pull/139
  • Added option to force max iterations for TactilePoseEstimator. by @luisenp in https://github.com/facebookresearch/theseus/pull/141
  • black version bump by @jeffin07 in https://github.com/facebookresearch/theseus/pull/144
  • Added code to split tactile pushing trajectories data into train/val by @luisenp in https://github.com/facebookresearch/theseus/pull/143
  • Removed RobotModel.dim() by @luisenp in https://github.com/facebookresearch/theseus/pull/156
  • [bug-fix] Fixed wrong data shape initialization for GPCostWeight.dt by @luisenp in https://github.com/facebookresearch/theseus/pull/157
  • Made AutoDiffCostFunction.tmpoptim_vars copies of original by @luisenp in https://github.com/facebookresearch/theseus/pull/155
  • Add forward kinematics using an URDF to theseus.embodied.kinematics. by @exhaustin in https://github.com/facebookresearch/theseus/pull/84
  • Fixed dtype error in se3.py that came up in unit tests by @joeaortiz in https://github.com/facebookresearch/theseus/pull/158
  • Add-ons for backward experiments on Tactile Pose Estimation by @luisenp in https://github.com/facebookresearch/theseus/pull/164
  • Change unit tests to avoid making mypy a main requirement. by @luisenp in https://github.com/facebookresearch/theseus/pull/168
  • Update readme and contrib by @luisenp in https://github.com/facebookresearch/theseus/pull/169
  • Add ManifoldGaussian class for messages in belief propagation by @joeaortiz in https://github.com/facebookresearch/theseus/pull/121
  • More efficient implementation of forward kinematics by @exhaustin in https://github.com/facebookresearch/theseus/pull/175
  • Changing setup virtualenv command. by @luisenp in https://github.com/facebookresearch/theseus/pull/178
  • Updated SDF object in collision cost functions whenever an aux var is updated by @luisenp in https://github.com/facebookresearch/theseus/pull/177
  • Fixed device bug that occurred when merging info in TRUNCATED backward modes by @luisenp in https://github.com/facebookresearch/theseus/pull/181
  • Allow constant inputs to cost functions to be passed as floats by @jeffin07 in https://github.com/facebookresearch/theseus/pull/150
  • Minor changes to core test code. by @luisenp in https://github.com/facebookresearch/theseus/pull/197
  • adding logo by @mhmukadam in https://github.com/facebookresearch/theseus/pull/200
  • Added aliases for Difference and Between by @luisenp in https://github.com/facebookresearch/theseus/pull/199
  • Fixed infinite recursion in GPMotionModel.copy() by @luisenp in https://github.com/facebookresearch/theseus/pull/201
  • Fix bug in diagonal cost weight by @luisenp in https://github.com/facebookresearch/theseus/pull/203
  • Added a check in TheseusFunction that enforces copy() also copies the variables by @luisenp in https://github.com/facebookresearch/theseus/pull/202
  • Fixed bug in Objective.error() that was updating data unncessarily. by @luisenp in https://github.com/facebookresearch/theseus/pull/204
  • DLM gradients by @rtqichen in https://github.com/facebookresearch/theseus/pull/161
  • Setup now uses torch for checking CUDA availability, and CI runs py3.9 tests by @luisenp in https://github.com/facebookresearch/theseus/pull/206
  • Update README to specify python versions and CUDA during install step + by @cpaxton in https://github.com/facebookresearch/theseus/pull/207
  • Vectorization refactor by @luisenp in https://github.com/facebookresearch/theseus/pull/205
  • Implement Robust Cost Function by @luisenp in https://github.com/facebookresearch/theseus/pull/148
  • Added option for auto resetting LUCudaSparseSolver if the batch size needs to change by @luisenp in https://github.com/facebookresearch/theseus/pull/212
  • Address comments on RobustCostFunction implementation by @luisenp in https://github.com/facebookresearch/theseus/pull/213
  • Moved the method that retracts all variables with a given delta to Objective by @luisenp in https://github.com/facebookresearch/theseus/pull/214
  • Fixed flaky unit test for Collision2D jacobians. by @luisenp in https://github.com/facebookresearch/theseus/pull/216
  • Bundle Adjustment using RobustCostFunction by @luisenp in https://github.com/facebookresearch/theseus/pull/149
  • Fixed the cross product bug for SE3.expmap and SE3.logmap by @fantaosha in https://github.com/facebookresearch/theseus/pull/217
  • Vectorize optimization variables retraction step by @luisenp in https://github.com/facebookresearch/theseus/pull/215
  • Moved Vectorize(objective) to the Optimizer class. by @luisenp in https://github.com/facebookresearch/theseus/pull/218
  • Added on-demand vectorization and also vectorized Objective.error(). by @luisenp in https://github.com/facebookresearch/theseus/pull/221
  • Vectorize PGO by @luisenp in https://github.com/facebookresearch/theseus/pull/211
  • Destroy cusolver context in CusolverLUSolver destructor by @luisenp in https://github.com/facebookresearch/theseus/pull/222
  • Jacobian computation using loop by @fantaosha in https://github.com/facebookresearch/theseus/pull/225
  • Vectorization handles singleton costs by @luisenp in https://github.com/facebookresearch/theseus/pull/226
  • Added close-formed jacobian for DLM perturbation cost. by @luisenp in https://github.com/facebookresearch/theseus/pull/224
  • SE2/SE3/SO3 - consolidate EPS, add dtype-conditioned EPS and add float32 unit tests by @luisenp in https://github.com/facebookresearch/theseus/pull/220
  • Add normalization to Lie group by @fantaosha in https://github.com/facebookresearch/theseus/pull/227
  • Add normalization to Lie group constructor by @fantaosha in https://github.com/facebookresearch/theseus/pull/228
  • Benchmarking PGO on main branch by @fantaosha in https://github.com/facebookresearch/theseus/pull/233
  • Renamed Variable.data as Variable.tensor by @luisenp in https://github.com/facebookresearch/theseus/pull/229
  • More data -> tensor renaming by @luisenp in https://github.com/facebookresearch/theseus/pull/230
  • Added state history tracking by @luisenp in https://github.com/facebookresearch/theseus/pull/234
  • Unified all cost functions so that cost weight is the last non-default argument by @luisenp in https://github.com/facebookresearch/theseus/pull/235
  • Ensure that CHOLMOD python interface casts to 64-bit precision by @luisenp in https://github.com/facebookresearch/theseus/pull/238
  • Add sphinx and readthedocs configuration by @luisenp in https://github.com/facebookresearch/theseus/pull/237
  • Fixed bug in state history for matrix data tensors. by @luisenp in https://github.com/facebookresearch/theseus/pull/240
  • Added isort for examples folder by @luisenp in https://github.com/facebookresearch/theseus/pull/243
  • Avoid batching SDF data, since it's shared by all trajectories. by @luisenp in https://github.com/facebookresearch/theseus/pull/246
  • Fixed device bug in DLM perturbation's jacobians by @luisenp in https://github.com/facebookresearch/theseus/pull/247
  • Benchmark PGO on the main branch by @fantaosha in https://github.com/facebookresearch/theseus/pull/244
  • Added checks to enforce 32- or 64-bit dtype by @luisenp in https://github.com/facebookresearch/theseus/pull/245
  • Update readme by @mhmukadam in https://github.com/facebookresearch/theseus/pull/251
  • Added MANIFEST.in and changed project name to theseus-ai. by @luisenp in https://github.com/facebookresearch/theseus/pull/252
  • Adding simple example by @mhmukadam in https://github.com/facebookresearch/theseus/pull/253
  • Added option to clear cuda cache when vectorization cache is cleared. by @luisenp in https://github.com/facebookresearch/theseus/pull/249
  • Added evaluation directory by @luisenp in https://github.com/facebookresearch/theseus/pull/241

New Contributors

  • @jeffin07 made their first contribution in https://github.com/facebookresearch/theseus/pull/105
  • @joeaortiz made their first contribution in https://github.com/facebookresearch/theseus/pull/122
  • @exhaustin made their first contribution in https://github.com/facebookresearch/theseus/pull/84
  • @rtqichen made their first contribution in https://github.com/facebookresearch/theseus/pull/161
  • @cpaxton made their first contribution in https://github.com/facebookresearch/theseus/pull/207

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.1.0-b.2...0.1.0

- Python
Published by mhmukadam almost 4 years ago

theseus-ai - 0.1.0-b.2

Major Additions

  • Initial implicit/truncated backward modes by @bamos in https://github.com/facebookresearch/theseus/pull/29
  • Adds support for energy based learning with NLL loss (LEO) by @psodhi in https://github.com/facebookresearch/theseus/pull/30
  • cusolver based batched LU solver by @maurimo in https://github.com/facebookresearch/theseus/pull/22
  • CUDA batch matrix multiplication and ops by @maurimo in https://github.com/facebookresearch/theseus/pull/23
  • CUDA-based solver class and autograd function by @maurimo in https://github.com/facebookresearch/theseus/pull/24

What Else Changed

  • Added clearer explanation at the end of Tutorial 0 and fixed doc typos by @luisenp in https://github.com/facebookresearch/theseus/pull/2
  • Default SE2/SO2 is zero element rather than torch empty. by @luisenp in https://github.com/facebookresearch/theseus/pull/3
  • Add plots to tutorials by @bamos in https://github.com/facebookresearch/theseus/pull/25
  • update text in Tutorial 2 per issue #27 by @vshobha in https://github.com/facebookresearch/theseus/pull/31
  • Update contrib and add gitattributes by @mhmukadam in https://github.com/facebookresearch/theseus/pull/33
  • update continuous integration by @maurimo in https://github.com/facebookresearch/theseus/pull/21
  • Changed TheseusLayer.forward() to receive optimizer_kwargs as a single dict by @luisenp in https://github.com/facebookresearch/theseus/pull/45
  • [hotfix] fix lint issues by @maurimo in https://github.com/facebookresearch/theseus/pull/54
  • Update version by @mhmukadam in https://github.com/facebookresearch/theseus/pull/63

New Contributors

  • @luisenp made their first contribution in https://github.com/facebookresearch/theseus/pull/2
  • @bamos made their first contribution in https://github.com/facebookresearch/theseus/pull/25
  • @vshobha made their first contribution in https://github.com/facebookresearch/theseus/pull/31
  • @maurimo made their first contribution in https://github.com/facebookresearch/theseus/pull/21
  • @mhmukadam made their first contribution in https://github.com/facebookresearch/theseus/pull/33
  • @psodhi made their first contribution in https://github.com/facebookresearch/theseus/pull/30

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.1.0-b.1...0.1.0-b.2

- Python
Published by mhmukadam over 4 years ago

theseus-ai -

Initial beta release. - Core data structures. - Vector and 2D rigid body representations. - Gauss-Newton and LM nonlinear optimizers. - LU and Cholesky dense linear solvers. - Cholmod sparse linear solver (CPU only). - Cost functions for planar motion planning and tactile estimation in planar pushing.

- Python
Published by mhmukadam over 4 years ago