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@mhmukadam mhmukadam released this 19 Jan 20:10
0.1.4
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Learn about vigilant mode.

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

Major Updates

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

Other Changes

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

Development in labs package

  • Add theseus.geometry.functional.so3 module with exp() and jexp() implementations by @fantaosha in #365
  • Add theseus.geometry.functional.so3.adjoint() by @fantaosha in #373
  • Add theseus.geometry.functional.so3.inverse() by @fantaosha in #374
  • Add hat() and vee() operators to theseus.geometry.so3 by @fantaosha in #378

Full Changelog: 0.1.3...0.1.4

Contributors

bamos, luisenp, and fantaosha
Assets 2
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