facebookresearch/theseus

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A library for differentiable nonlinear optimization

Stars: 2.1k
Forks: 149
Open beginner issues: 0
Indexed issues: 78

Dominant language: Python
License: MIT
Last GitHub push: Jan 16, 2025
Latest indexed: Sep 15, 2026
Contributing guide: Contributing guide
Code of conduct: Code of conduct
Beginner labels: good first issue
PR merge metrics: No merged PRs in 30d

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78 open issues indexed

Change VariableOrdering so that indexing happens using integers rather than strings. Open

performance

facebookresearch/theseus#6 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Features to improve obstacle avoidance functionality Open

enhancement

facebookresearch/theseus#7 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Optimize jacobian computation of AutodiffCostFunction Open

performance

facebookresearch/theseus#10 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Save and load TheseusLayer or models and torch jit integration Open

enhancement performance

facebookresearch/theseus#11 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Code coverage setup and sweep Open

enhancement

facebookresearch/theseus#13 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Consider making damping in linear solvers a tensor so that it can be batched and also made differentiable Open

enhancement

facebookresearch/theseus#19 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Occupancy map constructor of PlanarSDF makes it impossible to update sdf_data via TheseusLayer.forward() Open

bug good first issue

facebookresearch/theseus#20 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Derivatives w.r.t. the data in the quadratic fitting example Open

facebookresearch/theseus#26 · 9 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Does tutorial 2 use the Theseus derivatives through the NLLS? (Or just through the objective?) Open

documentation

facebookresearch/theseus#27 · 10 comments · 0 reactions · 2 assignees · Indexed Sep 15, 2026
Tutorial 1 has singular system with python 3.7 Open

bug documentation

facebookresearch/theseus#32 · 0 comments · 0 reactions · 2 assignees · Indexed Sep 15, 2026
Optimize quasi-static pushing cost function's Jacobians Open

good first issue performance

facebookresearch/theseus#36 · 5 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Moving CholmodSolveFunction and SparseStructure to separate submodule Open

refactor

facebookresearch/theseus#41 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Improvements to sampling based differentiation Open

performance refactor

facebookresearch/theseus#43 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Sparse solver class and autograd consolidation Open

refactor

facebookresearch/theseus#53 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Add class Quaternion to theseus.geometry Open

enhancement refactor

facebookresearch/theseus#60 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Consider option to initialize SO3 with r, p, y Open

enhancement

facebookresearch/theseus#62 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Add resuming capabilities to tactile pushing example Open

enhancement experiments

facebookresearch/theseus#67 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Refactor SE2 and SE3 to use rotation-then-translation format Open

facebookresearch/theseus#76 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Edge case unit tests for 2D Lie groups Open

enhancement

facebookresearch/theseus#86 · 1 comment · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Simplify _optimize_loop method Open

good first issue refactor

facebookresearch/theseus#91 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Various minor improvements Open

enhancement good first issue

facebookresearch/theseus#100 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Add `rotation` and `translation` initialization to `SE2` and `SE3` Open

enhancement

facebookresearch/theseus#107 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Jacobian computation for AutoDiffCostFunction Open

facebookresearch/theseus#125 · 4 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Add scale argument to `LieGroup.rand` and `LieGroup.randn` Open

enhancement good first issue

facebookresearch/theseus#135 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Efficient line search in optimizer Open

enhancement refactor

facebookresearch/theseus#153 · 2 comments · 2 reactions · 0 assignees · Indexed Sep 15, 2026
local and retract to route based on Manifold or ManifoldGaussian Open

enhancement good first issue refactor

facebookresearch/theseus#159 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
`th.eb` is never introduced in tutorial Open

facebookresearch/theseus#176 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Streamline sdf object update in cost function Open

refactor

facebookresearch/theseus#179 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Refactor and consolidate backward modes to be more readable Open

refactor

facebookresearch/theseus#185 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
`dim` method in `CostFunction` should be consistent with the `error` dimension Open

facebookresearch/theseus#198 · 3 comments · 0 reactions · 2 assignees · Indexed Sep 15, 2026
Add option to separate the vectorization of error computation and weight/rescale computation Open

enhancement on hold

facebookresearch/theseus#208 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Unit test for cusolver destroy Open

facebookresearch/theseus#223 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Add unit tests for state history tracking Open

facebookresearch/theseus#236 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Improve unit test for CHOLMOD stability using sparse matrix routines. Open

facebookresearch/theseus#239 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Add option to pass device when constructing a new Objective Open

good first issue refactor

facebookresearch/theseus#281 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 15, 2026
AutoDiff not working for SE3 optimization with batched input 3D points Open

facebookresearch/theseus#290 · 13 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Optimize numeric jacobian for faster unit testing Open

performance refactor

facebookresearch/theseus#323 · 10 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Add 32-bit support in CUDA sparse solvers Open

enhancement

facebookresearch/theseus#348 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Add other LM accept/reject options Open

facebookresearch/theseus#384 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Add masked linearization Open

facebookresearch/theseus#395 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
CUDA kernel for differentiable sparse matrix vector product Open

facebookresearch/theseus#418 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Add `to()` to `Joint`, `Link` and `Robot` in forward kinematics Open

enhancement

facebookresearch/theseus#430 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Add description to Lie group operators and address previous comments Open

enhancement

facebookresearch/theseus#445 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Clean up unit tests Open

enhancement good first issue

facebookresearch/theseus#451 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Consider adding preprocess and postprocess methods to optimizer Open

facebookresearch/theseus#454 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
readthedocs page only has API documentation for the core module Open

facebookresearch/theseus#458 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026
Features for Differentiable Forward Kinematics Open

facebookresearch/theseus#464 · 1 comment · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Support differentiable forward kinematics with `n-dof` joints Open

facebookresearch/theseus#473 · 3 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Add support to `RevoluteJointX`, `RevoluteJointY`, etc. Open

enhancement

facebookresearch/theseus#475 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 15, 2026
Move general cost functions out of embodied into more general package. Open

facebookresearch/theseus#479 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 15, 2026

facebookresearch/theseus

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