AR/VR

RESEARCH

Theseus: A Library for Differentiable Nonlinear Optimization

October 25, 2022

Abstract

We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framework for end-to-end structured learning in robotics and vision. Existing DNLS implementations are application specific and do not always incorporate many ingredients important for efficiency. Theseus is application-agnostic, as we illustrate with several example applications that are built using the same underlying differentiable components, such as second-order optimizers, standard costs functions, and Lie groups. For efficiency, Theseus incorporates support for sparse solvers, automatic vectorization, batching, GPU acceleration, and gradient computation with implicit differentiation and direct loss minimization. We do extensive performance evaluation in a set of applications, demonstrating significant efficiency gains and better scalability when these features are incorporated. Project page: https://sites.google.com/view/theseus-ai/

Download the Paper

AUTHORS

Written by

Mustafa Mukadam

Austin Wang

Brandon Amos

Daniel DeTone

Jing Dong

Joseph Oritz

Luis Pineda

Maurizio Monge

Ricky Chen

Shobha Venkataraman

Stuart Anderson

Taosha Fan

Paloma Sodhi

Publisher

NeurIPS

Research Topics

Graphics

Robotics

Computer Vision

Core Machine Learning

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