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Add a differentiable sparse matrix vector product on top of our ops #392

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merged 5 commits into from
Dec 8, 2022
Merged

Add a differentiable sparse matrix vector product on top of our ops #392

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5f22784
Add autograd function for sparse matrix vector product.
luisenp Nov 29, 2022
2e32cce
Add wrapper for sparse_mv in SparseLinearization.
luisenp Dec 1, 2022
ab9fcc7
Added autograd function for sparse matrix transpose vector product.
luisenp Dec 5, 2022
cccce93
Add wrapper for sparse_mtv in SparseLinearization to make differentia…
luisenp Dec 5, 2022
1e9dcb9
Fix dtype index bug.
luisenp Dec 5, 2022
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Fix dtype index bug.
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@luisenp
luisenp committed Dec 8, 2022
commit 1e9dcb998b8dda79a8fcee0ad45a3f72d1faec1d
2 changes: 1 addition & 1 deletion theseus/utils/sparse_matrix_utils.py
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Expand Up @@ -130,7 +130,7 @@ def _sparse_mat_vec_bwd_backend(
for row in range(num_rows):
start = A_row_ptr[row]
end = A_row_ptr[row + 1]
columns = A_col_ind[start:end]
columns = A_col_ind[start:end].long()
if is_tmat:
A_grad[:, start:end] = v[:, row].view(-1, 1) * grad_output[:, columns]
v_grad[:, row] = (grad_output[:, columns] * A_val[:, start:end]).sum(dim=1)
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