Code

Add Differentiable CEM solver#329

Code

Merged

luisenp merged 35 commits intomainfacebookresearch/theseus:mainfrom dishank.dcemfacebookresearch/theseus:dishank.dcemCopy head branch name to clipboardMar 23, 2023

+504-14

Commits

Commits on Mar 9, 2023

• first implementation of dcem solver

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  31c277d

• dcem optimizer working

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• minor changes in dcem, added tests

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• online calculatino of n_batch

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• initializing LML layer

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• dcem working backwards tutorial 2

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• better vectorization in solver

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  655ba19

• vectoriztion in solve method for itr loop in optimizer class

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• forward pass working perfectly with current set of hyperparams with batch 1

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• dcem backward unit test passed for one setting

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• DCEM backward unit test working, not tested with leo, insanely slow with learnable error

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• refactoring, removed DcemSolver in favour of solve method in DCEM optimizer

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• correcting circle ci errors

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• corrected lml url for requirements.txt

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• corrected reuirements.txt for lml

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• removing -e from requirements

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• changing setup.py to install lml

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  c809e94

• changing setup.py to add lml

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• commented dcem_test

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• unit test working with both gpu, cpu with even less 10-2 error thres in outer loop, optim itrs=50

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• testing with lml_eps=10-4

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• Revert "testing with lml_eps=10-4"

  Show description for 7d68639
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• reverting the common.py file

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• dcem working, name changed from DCem to DCEM

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  769d483

• removed _all_solve function and chnaged _solve name to _CEM_step

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  126ee47

• changed dcem objective to use error_metric and edit __init files

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• dcem working, added dcem tutorial

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• add lml as third party

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• or black pre-commit hook

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• removeing abs in loss function since model chnaged test_theseus layer

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  f4b345a

• changes in test_theseus to make it compatible with DCEM

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  97c94b6

Commits on Mar 20, 2023

• minor changes:styling, nits, typehinting, etc.

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  bc32139

• reverted minor changes, corrected test_theseus_layer argument logic for lin_solver_cls, moved EndItercallback to nonlinearoptmizer

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  50ea767

Commits on Mar 21, 2023

• using scatter for indexes with temp=None in dcem

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  ee75e95

Commits on Mar 22, 2023

• final changes, removing half-complete changes before merge

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