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GBP optimizer #427

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GBP optimizer #427

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joeaortiz
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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
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
@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
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@luisenp luisenp Awaiting requested review from luisenp

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@joeaortiz joeaortiz

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