Skip to content

GBP optimizer #427

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Draft
wants to merge 74 commits into
base: main
Choose a base branch
from
Draft

GBP optimizer #427

wants to merge 74 commits into from

Conversation

joeaortiz
Copy link
Contributor

Motivation and Context

Adding GBP as another option for the optimizer.
Operates in a different way from the current optimizers - can be implemented as distributed message passing.

How Has This Been Tested

Have created a simple linear test, but needs nonlinear tests too.

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

joeaortiz added 30 commits March 16, 2022 18:19
@joeaortiz
gbp implementation for pose graph problem, euclidean and lie algebra
1918b45
@joeaortiz
Merge branch 'main' into joe.gbp_optimizer
6edf81b
@joeaortiz
gbp uses exp_map jacobians
31a8874
@joeaortiz
gaussian for Manifold rather than Variable class
1a6eae4
@joeaortiz
Merge branch 'main' into joe.gbp_optimizer
a7a6e4d
@joeaortiz
uses proper theseus exp_map jacobian
e93aa49
@joeaortiz
gaussian class plus marginals and message class
aa7062e
@joeaortiz
updated gaussian class
4479f3b
@joeaortiz
message scheduler
fc12a98
@joeaortiz
added mean damping in lin point space
264ed22
@joeaortiz
Merge branch 'main' into joe.gbp_optimizer
d5937b4
@joeaortiz
fix in linearise and add ba exmple
8092a03
@joeaortiz
Merge branch 'main' into joe.gbp_optimizer
106b57d
@joeaortiz
use th.Manifold gaussian
4100342
@joeaortiz
ba tests, fixing numerical issues
b26e1a3
@joeaortiz
ba viewer
b4c387a
@joeaortiz
bundle adjustment trimesh vis
b75cfca
@joeaortiz
soft huber-like loss on norm of x,y error
40575f4
@joeaortiz
remove prints and fix viewer
a91754e
@joeaortiz
remove symmetric check
32380fb
@joeaortiz
ba visualisation and derivates setup for pgo
2aa58a1
@joeaortiz
lin system damping for ftov msgs
4c91944
@joeaortiz
static dense solver methods
d1244e8
@joeaortiz
ba with damping in linear system
87cac1e
@joeaortiz
backward modes
34133be
@joeaortiz
msgs are class variables to fix implicit backward mode
4263ef5
@joeaortiz
test different backward modes for pgo
7b1bf78
@joeaortiz
Merge branch 'main' into joe.gbp_optimizer
b6f6748
@joeaortiz
fixed copy_impl for reprojection error fn
6c07c34
@joeaortiz
fix order of args in copy fn
d2bd2ae
@joeaortiz
nesterov acceleration, two modes
25e87de
@joeaortiz
swarm exp
4e1a4b1
@joeaortiz
learning target for agents
37f7ed5
@joeaortiz
target character and joint mlp + gbp
a6b7274
@joeaortiz
fixed jacobians for gnn factor
89f0c78
@joeaortiz
implicit backward mode for GBP using GN step
8a75767
@joeaortiz
implicit derivatives using gbp and plot backward modes against time
75c3157
@joeaortiz
Merge main
a7db963
@joeaortiz
moved into optimizer, removed experiments
53e4b91
@joeaortiz
Moved import, fixed single wrapper vectorization
82fc597
@joeaortiz
update vectorization before truncated steps
8a01154
@joeaortiz
Moved bundle adjustment edits to experimental branch
0644e94
@joeaortiz
flake8 on github not gitlab
4a81901
@joeaortiz
Remove nesterov acceleration and timing
4489141
@joeaortiz
End of iter callback, updated mypy version
9d5d5f7
@joeaortiz
First attempt at GBP linear solver test
748fe38
@joeaortiz
Fixed poor conditioning problems with linear test
e597451
@joeaortiz
dropout starts later
c2cebbe
@joeaortiz
Merge branch 'main' into joe.gbp_optimizer
d90138f
@joeaortiz
Comments and references for understanding GBP code
a94225f
@joeaortiz joeaortiz requested a review from luisenp January 13, 2023 12:56
@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 Jan 13, 2023
@mhmukadam mhmukadam marked this pull request as draft June 27, 2023 17:55
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@luisenp luisenp Awaiting requested review from luisenp

At least 1 approving review is required to merge this pull request.

Assignees

@joeaortiz joeaortiz

Labels
CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed.
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@joeaortiz @facebook-github-bot