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Name		Name	Last commit message	Last commit date
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data/motion_planning_2d		data/motion_planning_2d
fig		fig
00_introduction.ipynb		00_introduction.ipynb
01_least_squares_optimization.ipynb		01_least_squares_optimization.ipynb
02_differentiating_theseus_layer.ipynb		02_differentiating_theseus_layer.ipynb
03_custom_cost_functions.ipynb		03_custom_cost_functions.ipynb
04_motion_planning.ipynb		04_motion_planning.ipynb
05_differentiable_motion_planning.ipynb		05_differentiable_motion_planning.ipynb
README.md		README.md

README.md

Theseus includes a number of tutorials to help a user get started:

Tutorial 0 introduces Theseus and its fundamental concepts, and shows how to use its different basic building blocks.
Tutorial 1 describes how to model and solve a simple least-squares optimization problem.
Tutorial 2 describes how to model and solve a collection of least-squares optimization problems with shared parameters.
Tutorial 3 describes how to write custom cost functions for use in Theseus optimization problems.
Tutorial 4 shows how to implement GPMP2 motion-planning algorithm (Mukadam et al 2018).
Tutorial 5 shows how to implement a differentiable motion planner, similar to dGPMP2 (Bhardwaj et al 2020).