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DLM gradients #161

Merged
merged 23 commits into from
Jun 7, 2022
Merged

DLM gradients #161

merged 23 commits into from
Jun 7, 2022

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rtqichen
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@rtqichen rtqichen commented Apr 13, 2022 •
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Motivation and Context

Implements support for the "direct loss minimization" gradient computation for theseus.

How Has This Been Tested

Tested in theseus/optimizer/nonlinear/tests/test_backwards.py, and ran the following examples:

  • examples/backward_mode.py
  • examples/tactile_pose_estimation.py

Types of changes

  • Docs change / refactoring / dependency upgrade
  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to change)

Checklist

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes.
  • All new and existing tests passed.

@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Apr 13, 2022
@mhmukadam mhmukadam added enhancement New feature or request experiments Experiments using latest features labels Apr 13, 2022
mhmukadam
mhmukadam reviewed Apr 13, 2022
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Look good so far. After adding discussed things and adding unit tests, you can try with the tactile example which we are using for the backward experiments.

@mhmukadam
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Also CI fails linting. Make sure you are using git precommit hooks.

luisenp
luisenp approved these changes Apr 21, 2022
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This is great! Left some comments/questions.

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@luisenp luisenp mentioned this pull request Apr 25, 2022
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mhmukadam
mhmukadam reviewed Apr 27, 2022
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Looks great! Thanks @rtqichen for adding DLM.

This was referenced Apr 27, 2022
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@mhmukadam mhmukadam merged commit 9e11ced into main Jun 7, 2022
@mhmukadam mhmukadam deleted the rtqichen.dlm_gradients branch June 7, 2022 20:09
suddhu pushed a commit to suddhu/theseus that referenced this pull request Jan 21, 2023
@rtqichen
DLM gradients (facebookresearch#161)
1310e19 
* DLM gradients hacky example

* implement DLM using autograd.Function

* make soln a bit more accurate

* minor; removed unnecessary code

* lower case for dlm_epsilon

* backward test for DLM

* fix imports

* rename and make linter happy

* filter for tensors that require grad

* Construct the bwd objective only once

* minor

* remove print statements

* Fix DLM when using gpu; cost function shape; and handle case when no differentiable tensor

* Fix memory leak by removing dict input_data from input arguments

* preserve ordering

* Expand batch dim if possible

* undo

* use lower case

* reduce a bit of python overhead

* explicit one step
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Reviewers

@bamos bamos bamos approved these changes

@luisenp luisenp luisenp approved these changes

@mhmukadam mhmukadam mhmukadam approved these changes

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@rtqichen rtqichen

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@rtqichen @mhmukadam @bamos @luisenp @facebook-github-bot