Theseus Files

This release brings Theseus to PyTorch >= 2.0.0 and updates backends for differentiable Lie groups and differentiable kinematics with the new streamlined and more efficient torchlie and torchkin from our team. Both torchlie and torchkin are independent PyPI installable libraries that are released as 0.1.0 along with this Theseus release.

Major Updates

• Deprecated torch < 2.0.0. by @luisenp in https://github.com/facebookresearch/theseus/pull/525
• Move torchlie out of labs by @luisenp in https://github.com/facebookresearch/theseus/pull/523
• Graduate FK code out of labs by @luisenp in https://github.com/facebookresearch/theseus/pull/550
• Add Differentiable CEM solver by @dishank-b in https://github.com/facebookresearch/theseus/pull/329
• New NonlinearOptimizer hierarchy by @luisenp in https://github.com/facebookresearch/theseus/pull/440
• Added utility to automatically check jacobians of a given cost function. by @luisenp in https://github.com/facebookresearch/theseus/pull/465
• Added planning example with SE2 and nonholonomic cost by @luisenp in https://github.com/facebookresearch/theseus/pull/474
• Add inverse kinematics example by @fantaosha in https://github.com/facebookresearch/theseus/pull/538

Other Changes

• Detach the derivative though the Hessian by @bamos in https://github.com/facebookresearch/theseus/pull/425
• Using resource_class:xlarge for complex CPU unit tests in CI. by @luisenp in https://github.com/facebookresearch/theseus/pull/447
• Fixed error that was preventing requirements versions to be used in setup by @luisenp in https://github.com/facebookresearch/theseus/pull/448
• Update to isort 5.11.5 in precommit. by @luisenp in https://github.com/facebookresearch/theseus/pull/453
• Modified build scripts to support nightly packages. by @luisenp in https://github.com/facebookresearch/theseus/pull/467
• Added SignedDistanceField2D.to() by @luisenp in https://github.com/facebookresearch/theseus/pull/468
• Add a unit test to check the PGO loss values automatically by @luisenp in https://github.com/facebookresearch/theseus/pull/456
• Minor fixes to motion planner code. by @luisenp in https://github.com/facebookresearch/theseus/pull/469
• Change in data model in test_theseus_layer by @dishank-b in https://github.com/facebookresearch/theseus/pull/477
• Change HingeCost to receive more flexible limits by @luisenp in https://github.com/facebookresearch/theseus/pull/491
• Added experimental option allowing a variables to be both optim. and aux. by @luisenp in https://github.com/facebookresearch/theseus/pull/492
• Made the optimizer configurable in the MotionPlanner. by @luisenp in https://github.com/facebookresearch/theseus/pull/493
• Allow vmap to work on th.SE3 log_map by @rmurai0610 in https://github.com/facebookresearch/theseus/pull/495
• Made the threshold for converting occupancy -> SDF configurable. by @luisenp in https://github.com/facebookresearch/theseus/pull/498
• Make SDF boundary value configurable by @rmurai0610 in https://github.com/facebookresearch/theseus/pull/500
• Fixed convergence check error in DCEM with negative error metrics. by @luisenp in https://github.com/facebookresearch/theseus/pull/510
• Added an option to flatten_dims in RobustCostFunction. by @luisenp in https://github.com/facebookresearch/theseus/pull/503
• Update pre-commit versions and skip failing mypy import tests. by @luisenp in https://github.com/facebookresearch/theseus/pull/518
• Rename check functions by @fantaosha in https://github.com/facebookresearch/theseus/pull/516
• Fix installing from source on Windows by explicitly mentioning cusparse in setup.py by @aiddun in https://github.com/facebookresearch/theseus/pull/534
• Migrate SO3 (reissue) by @luisenp in https://github.com/facebookresearch/theseus/pull/539
• Migrate SE3 backend to torchlie by @luisenp in https://github.com/facebookresearch/theseus/pull/526
• Unit tests for left_project with broadcasting by @luisenp in https://github.com/facebookresearch/theseus/pull/527
• Added configurable global options for torchlie and theseus by @luisenp in https://github.com/facebookresearch/theseus/pull/528
• Adding some docs by @luisenp in https://github.com/facebookresearch/theseus/pull/529
• Add other autograd options for AutoDiffCostFunction by @luisenp in https://github.com/facebookresearch/theseus/pull/532
• Fix package info for building wheel by @luisenp in https://github.com/facebookresearch/theseus/pull/533
• Fix SO3 rotate check by @luisenp in https://github.com/facebookresearch/theseus/pull/541
• Add kwarg to disable manifold checks in constructor by @luisenp in https://github.com/facebookresearch/theseus/pull/540
• Add extra eps for dlog by @fantaosha in https://github.com/facebookresearch/theseus/pull/544
• Change Lie group import to torchlie by @luisenp in https://github.com/facebookresearch/theseus/pull/545
• Fix a bug un precommit that was preventing isort and black from being run by @luisenp in https://github.com/facebookresearch/theseus/pull/546
• Rename GlobalOptions as Params and remove duplication of some of them with torchlie by @luisenp in https://github.com/facebookresearch/theseus/pull/547
• Removed Objective.error_squared_norm() by @luisenp in https://github.com/facebookresearch/theseus/pull/548
• Add README for torchlie by @luisenp in https://github.com/facebookresearch/theseus/pull/549
• transform_from -> transform by @fantaosha in https://github.com/facebookresearch/theseus/pull/551
• Add untransform by @fantaosha in https://github.com/facebookresearch/theseus/pull/552
• Add d_near_zero to SE2 by @fantaosha in https://github.com/facebookresearch/theseus/pull/553
• update torchlie readme by @mhmukadam in https://github.com/facebookresearch/theseus/pull/557
• update theseus readme by @mhmukadam in https://github.com/facebookresearch/theseus/pull/558
• Add torchkin example by @fantaosha in https://github.com/facebookresearch/theseus/pull/559
• Update build_wheel.sh to properly use created conda environment by @JingyuQian in https://github.com/facebookresearch/theseus/pull/561

Development in labs Package

• Add Lie groups functional library by @fantaosha in https://github.com/facebookresearch/theseus/pull/379
• Some clean up of Lie Groups code by @luisenp in https://github.com/facebookresearch/theseus/pull/449
• Restructures Lie groups labs package and adds LieTensor by @luisenp in https://github.com/facebookresearch/theseus/pull/450
• Make LieTensor a subclass of torch.Tensor and override function/operators by @luisenp in https://github.com/facebookresearch/theseus/pull/452
• Fixed broken compute graph in LieTensor.new() by @luisenp in https://github.com/facebookresearch/theseus/pull/478
• Add forward kinematics package to labs by @fantaosha in https://github.com/facebookresearch/theseus/pull/415
• Add transform_from to Lie group by @fantaosha in https://github.com/facebookresearch/theseus/pull/483
• Update Labs API by @luisenp in https://github.com/facebookresearch/theseus/pull/488
• Lie Labs API v3 by @luisenp in https://github.com/facebookresearch/theseus/pull/494
• Lie Labs API example by @luisenp in https://github.com/facebookresearch/theseus/pull/476
• fixed bugs for jacobians of transform_from by @fantaosha in https://github.com/facebookresearch/theseus/pull/505
• Add labs.lie support for functorch and vmap pt. 1 by @luisenp in https://github.com/facebookresearch/theseus/pull/504
• Implement SE3.normalize() by @fantaosha in https://github.com/facebookresearch/theseus/pull/506
• Update checks to be consistent with multi-batch implementation by @fantaosha in https://github.com/facebookresearch/theseus/pull/508
• Implementation of multi-batch unary Lie group operators by @fantaosha in https://github.com/facebookresearch/theseus/pull/509
• Add multi-batch support for SE(3) unary operators by @fantaosha in https://github.com/facebookresearch/theseus/pull/512
• Add multi-batch compose() and transform_from() for SO(3) and SE(3) by @fantaosha in https://github.com/facebookresearch/theseus/pull/513
• Implemented multi-batch gradient ops by @fantaosha in https://github.com/facebookresearch/theseus/pull/515
• Multi-batch unit tests for Lie groups by @luisenp in https://github.com/facebookresearch/theseus/pull/522
• Refactored FK to support vmap and other staff by @fantaosha in https://github.com/facebookresearch/theseus/pull/543

New Contributors

• @dishank-b made their first contribution in https://github.com/facebookresearch/theseus/pull/477
• @rmurai0610 made their first contribution in https://github.com/facebookresearch/theseus/pull/495
• @aiddun made their first contribution in https://github.com/facebookresearch/theseus/pull/534
• @JingyuQian made their first contribution in https://github.com/facebookresearch/theseus/pull/561

Full Changelog: https://github.com/facebookresearch/theseus/compare/0.1.4...0.2.0