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Improvements to sampling based differentiation #43

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mhmukadam opened this issue Dec 23, 2021 · 0 comments
Open

Improvements to sampling based differentiation #43

mhmukadam opened this issue Dec 23, 2021 · 0 comments
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performance Improving efficiency refactor Refactor library components

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@mhmukadam
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mhmukadam commented Dec 23, 2021 •
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  • Broadcast retract_and_update_variables to improve efficiency of sampling procedure in LEO. See original comment.
  • Move get_average_sample_cost to somewhere commonly accessible: utils or theseus layer. See original comment.
  • Reuse the linear solve solution (delta) from theseus layer forward to avoid recomputing in the sampling function. See original comment.
@mhmukadam mhmukadam added the performance Improving efficiency label Dec 23, 2021
@mhmukadam mhmukadam changed the title Broadcast retract_and_update_variables Improvement to sampling based differentiation Dec 23, 2021
@mhmukadam mhmukadam changed the title Improvement to sampling based differentiation Improvements to sampling based differentiation Dec 23, 2021
@mhmukadam mhmukadam added the refactor Refactor library components label Dec 23, 2021
ddetone pushed a commit that referenced this issue Mar 29, 2022
@luisenp
Merge pull request #43 from fairinternal/lep.start_embodied
fec90d4 
Starts implementing factor and variable types for 2D robot experiments
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