0.1.0

This code release is also associated with arXiv v1 paper release.

What's Changed

• Add SO3 support by @luisenp in #46
• Taoshaf.add so3 class by @fantaosha in #65
• Add SO3 rotate and unrotate by @fantaosha in #57
• add so3._hat_matrix_check() by @fantaosha in #59
• Encapsulated data loading functions in tactile pushing example into a new class by @luisenp in #51
• Added a TactilePoseEstimator class to easily create TheseusLayer for tactile pushing by @luisenp in #52
• Refactor tactile pushing model interface by @luisenp in #55
• Minor fixes 02/01/2022 by @luisenp in #66
• add adjoint, hat and vee for SE3 by @fantaosha in #68
• Add SE3.exp_map() and SE3.log_map() by @fantaosha in #71
• Add SE3.compose() by @fantaosha in #72
• add SE3.transform_from and SE3.transform_to by @fantaosha in #80
• Updated to CircleCI's next-gen images. by @luisenp in #89
• Updated README with libsuitesparse installation instructions. by @luisenp in #90
• Added kwarg to NonlinearOptimizer.optimizer() for tracking error history by @luisenp in #82
• Merge infos results for truncated backward modes by @luisenp in #83
• Fix Issue 88 by @maurimo in #97
• Fixed bug in Variable.update() that was breaking torch graph... by @luisenp in #96
• Forced Gauss-Newton step for last iterations of truncated backward. by @luisenp in #81
• Add automatic differentiation on the Lie group tangent space by @fantaosha in #74
• Add rand() to LieGroup by @fantaosha in #95
• Fix SO2 rotate and unrotate jacobian by @fantaosha in #58
• Add projection for sparse Jacobian matrices by @fantaosha in #98
• Add LieGroup Support for AutoDiffFunction by @fantaosha in #99
• Add SE2.transform from() and fix shape bugs in SE2.transform_to() by @fantaosha in #103
• Switch SE3.transform_from and SE3.transform_to by @fantaosha in #104
• Enabled back ellipsoidal damping in LM with linear solvers support checks by @luisenp in #87
• Changed name of pytest mark for CUDA extensions. by @luisenp in #102
• Fix backpropagation bugs in SO3 and SE3 log_map by @fantaosha in #109
• Add analytical jacobians for LieGroup.exp_map by @fantaosha in #110
• error and errorsquaredNorm optional data by @jeffin07 in #105
• Add analytical derivatives for LieGroup.log_map() by @fantaosha in #114
• Refactor SO3.to_quaternion to fix backward bugs and improve the accuracy around pi by @fantaosha in #116
• Change RobotModel.forward_kinematics() interface by @luisenp in #94
• Added error handling for missing matplotlib and omegaconf installation when using theg by @luisenp in #119
• Add jacobians argument to exp_map and log_map functions by @joeaortiz in #122
• Add pose graph optimization example by @fantaosha in #118
• Added 'secret' option to keep constant step size when using truncated… by @luisenp in #130
• Add jacobians for LieGroup.local() by @fantaosha in #129
• Added method to update SE2 from x_y_theta. by @luisenp in #131
• A complete version of Bundle Adjusment by @luisenp in #117
• Fixed jacobians for Between and VariableDifference by @fantaosha in #133
• Added batching support to tactile pushing example. by @luisenp in #132
• Changed tactile pose example optim var initialization to use start pose for all vars by @luisenp in #137
• Override Vector operators in Point2 and Point3 by @jeffin07 in #124
• Merge Between and VariableDiff with RelativePoseError and PosePriorError by @fantaosha in #136
• Fix a bug in Objective.copy() by @fantaosha in #139
• Added option to force max iterations for TactilePoseEstimator. by @luisenp in #141
• black version bump by @jeffin07 in #144
• Added code to split tactile pushing trajectories data into train/val by @luisenp in #143
• Removed RobotModel.dim() by @luisenp in #156
• [bug-fix] Fixed wrong data shape initialization for GPCostWeight.dt by @luisenp in #157
• Made AutoDiffCostFunction._tmp_optim_vars copies of original by @luisenp in #155
• Add forward kinematics using an URDF to theseus.embodied.kinematics. by @exhaustin in #84
• Fixed dtype error in se3.py that came up in unit tests by @joeaortiz in #158
• Add-ons for backward experiments on Tactile Pose Estimation by @luisenp in #164
• Change unit tests to avoid making mypy a main requirement. by @luisenp in #168
• Update readme and contrib by @luisenp in #169
• Add ManifoldGaussian class for messages in belief propagation by @joeaortiz in #121
• More efficient implementation of forward kinematics by @exhaustin in #175
• Changing setup virtualenv command. by @luisenp in #178
• Updated SDF object in collision cost functions whenever an aux var is updated by @luisenp in #177
• Fixed device bug that occurred when merging info in TRUNCATED backward modes by @luisenp in #181
• Allow constant inputs to cost functions to be passed as floats by @jeffin07 in #150
• Minor changes to core test code. by @luisenp in #197
• adding logo by @mhmukadam in #200
• Added aliases for Difference and Between by @luisenp in #199
• Fixed infinite recursion in GPMotionModel.copy() by @luisenp in #201
• Fix bug in diagonal cost weight by @luisenp in #203
• Added a check in TheseusFunction that enforces copy() also copies the variables by @luisenp in #202
• Fixed bug in Objective.error() that was updating data unncessarily. by @luisenp in #204
• DLM gradients by @rtqichen in #161
• Setup now uses torch for checking CUDA availability, and CI runs py3.9 tests by @luisenp in #206
• Update README to specify python versions and CUDA during install step + by @cpaxton in #207
• Vectorization refactor by @luisenp in #205
• Implement Robust Cost Function by @luisenp in #148
• Added option for auto resetting LUCudaSparseSolver if the batch size needs to change by @luisenp in #212
• Address comments on RobustCostFunction implementation by @luisenp in #213
• Moved the method that retracts all variables with a given delta to Objective by @luisenp in #214
• Fixed flaky unit test for Collision2D jacobians. by @luisenp in #216
• Bundle Adjustment using RobustCostFunction by @luisenp in #149
• Fixed the cross product bug for SE3.exp_map and SE3.log_map by @fantaosha in #217
• Vectorize optimization variables retraction step by @luisenp in #215
• Moved Vectorize(objective) to the Optimizer class. by @luisenp in #218
• Added on-demand vectorization and also vectorized Objective.error(). by @luisenp in #221
• Vectorize PGO by @luisenp in #211
• Destroy cusolver context in CusolverLUSolver destructor by @luisenp in #222
• Jacobian computation using loop by @fantaosha in #225
• Vectorization handles singleton costs by @luisenp in #226
• Added close-formed jacobian for DLM perturbation cost. by @luisenp in #224
• SE2/SE3/SO3 - consolidate EPS, add dtype-conditioned EPS and add float32 unit tests by @luisenp in #220
• Add normalization to Lie group by @fantaosha in #227
• Add normalization to Lie group constructor by @fantaosha in #228
• Benchmarking PGO on main branch by @fantaosha in #233
• Renamed Variable.data as Variable.tensor by @luisenp in #229
• More data -> tensor renaming by @luisenp in #230
• Added state history tracking by @luisenp in #234
• Unified all cost functions so that cost weight is the last non-default argument by @luisenp in #235
• Ensure that CHOLMOD python interface casts to 64-bit precision by @luisenp in #238
• Add sphinx and readthedocs configuration by @luisenp in #237
• Fixed bug in state history for matrix data tensors. by @luisenp in #240
• Added isort for examples folder by @luisenp in #243
• Avoid batching SDF data, since it's shared by all trajectories. by @luisenp in #246
• Fixed device bug in DLM perturbation's jacobians by @luisenp in #247
• Benchmark PGO on the main branch by @fantaosha in #244
• Added checks to enforce 32- or 64-bit dtype by @luisenp in #245
• Update readme by @mhmukadam in #251
• Added MANIFEST.in and changed project name to theseus-ai. by @luisenp in #252
• Adding simple example by @mhmukadam in #253
• Added option to clear cuda cache when vectorization cache is cleared. by @luisenp in #249
• Added evaluation directory by @luisenp in #241

New Contributors

• @jeffin07 made their first contribution in #105
• @joeaortiz made their first contribution in #122
• @exhaustin made their first contribution in #84
• @rtqichen made their first contribution in #161
• @cpaxton made their first contribution in #207

Full Changelog: 0.1.0-b.2...0.1.0