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Vectorization refactor #205

Merged
merged 27 commits into from
Jun 9, 2022
Merged

Vectorization refactor #205

merged 27 commits into from
Jun 9, 2022

Commits on Jun 7, 2022

  1. Created a wrapper cost function class that combines the aux vars for … 

    …a cost function and its weight.
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  2. Disabled support for optimization variables in cost weights.

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  3. Changed Objective to iterate over CFWrapper if available, and Theseus… 

    …Layer to create them at init time.
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  4. Added a Vectorizer class and moved CFWrappers there.

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  5. Renamed vectorizer as Vectorize, added logic to replace Objective ite… 

    …rator, and added it to TheseusLayer.
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  6. Added a CostFunctionSchema -> List[CostFunction] to use for vectoriza… 

    …tion grouping.
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  7. _CostFunctionWrapper is now meant to just store a cached value coming… 

    … from vectorization. Otherwise it works just like the cost function it wraps.
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  8. Added code to automatically compute shared vars in Vectorize.

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  9. Changed vectorized costs construction to ensure that their weight is … 

    …also a copy.
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    luisenp committed Jun 7, 2022
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  10. Implemented main cost function vectorization logic.

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  11. Updated bug that was causing detached gradients.

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    luisenp committed Jun 7, 2022
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  12. Fixed invalid check in theseus end-to-end unit tests.

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  13. Added unit test for schema and shared var computation.

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  14. Added a test to check that computed vectorized errors are correct.

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  15. Moved vectorization update call to base linearization class.

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  16. Changed code to allow batch_size > 1 in shared variables.

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  17. Fixed unit test and added call to Objective.update() in update_vector… 

    …ization() if batch_size is None.
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  18. Added new private iterator for vectorized costs.

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Commits on Jun 9, 2022

  1. Replaced _register_vars_in_list with TheseusFunction.register_vars.

    @luisenp
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  2. Renamed vectorize_cost_fns kwarg as vectorize.

    @luisenp
    luisenp committed Jun 9, 2022
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  3. Added license headers.

    @luisenp
    luisenp committed Jun 9, 2022
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  4. Small refactor.

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  5. Fixed bug that was preventing vectorized costs to work with to(). End… 

    …-to-end tests now run with vectorize=True.
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  6. Renamed the private Objective cost function iterator to _get_iterator().

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  7. Renamed kwarg in register_vars.

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  8. Set vectorize=True for inverse kinematics and backward tests.

    @luisenp
    luisenp committed Jun 9, 2022
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  9. Remove lingering comments.

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    luisenp committed Jun 9, 2022
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