Code

Vectorization refactor#205

Code

Merged

luisenp merged 27 commits intomainfacebookresearch/theseus:mainfrom lep.vectorizefacebookresearch/theseus:lep.vectorizeCopy head branch name to clipboardJun 9, 2022

+574-50

Commits

Commits on Jun 7, 2022

• Created a wrapper cost function class that combines the aux vars for a cost function and its weight.

  luisenp

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  424c714

• Disabled support for optimization variables in cost weights.

  luisenp

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  ee9e235

• Changed Objective to iterate over CFWrapper if available, and TheseusLayer to create them at init time.

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  ea74465

• Added a Vectorizer class and moved CFWrappers there.

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  1b3af0b

• Renamed vectorizer as Vectorize, added logic to replace Objective iterator, and added it to TheseusLayer.

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  2d3f9d2

• Added a CostFunctionSchema -> List[CostFunction] to use for vectorization grouping.

  luisenp

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  6a146cb

• _CostFunctionWrapper is now meant to just store a cached value coming from vectorization. Otherwise it works just like the cost function it wraps.

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  6c6a887

• Added code to automatically compute shared vars in Vectorize.

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  77ac280

• Changed vectorized costs construction to ensure that their weight is also a copy.

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  31237da

• Implemented main cost function vectorization logic.

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  d30e1af

• Updated bug that was causing detached gradients.

  luisenp

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  36e89c7

• Fixed invalid check in theseus end-to-end unit tests.

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  376e8ef

• Added unit test for schema and shared var computation.

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  ae6db18

• Added a test to check that computed vectorized errors are correct.

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  0a2ee0a

• Moved vectorization update call to base linearization class.

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  58cee83

• Changed code to allow batch_size > 1 in shared variables.

  luisenp

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  7e60f87

• Fixed unit test and added call to Objective.update() in update_vectorization() if batch_size is None.

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  399bb90

• Added new private iterator for vectorized costs.

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  10cbf1c

Commits on Jun 9, 2022

• Replaced _register_vars_in_list with TheseusFunction.register_vars.

  luisenp

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  10b208a

• Renamed vectorize_cost_fns kwarg as vectorize.

  luisenp

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  db5f366

• Added license headers.

  luisenp

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  bb83db3

• Small refactor.

  luisenp

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  1d0cd20

• Fixed bug that was preventing vectorized costs to work with to(). End-to-end tests now run with vectorize=True.

  luisenp

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  e902924

• Renamed the private Objective cost function iterator to _get_iterator().

  luisenp

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  0ec439f

• Renamed kwarg in register_vars.

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  aab9ead

• Set vectorize=True for inverse kinematics and backward tests.

  luisenp

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  e57f310

• Remove lingering comments.

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  d6a434f