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fix Inv() error when using pp.func.jacrev #320

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Merged
zitongzhan merged 9 commits into from
Dec 26, 2023
Merged

fix Inv() error when using pp.func.jacrev #320

zitongzhan merged 9 commits into from
Dec 26, 2023

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@zitongzhan zitongzhan commented Dec 25, 2023

Fix #319

@zitongzhan zitongzhan marked this pull request as draft December 25, 2023 19:25
@zitongzhan zitongzhan marked this pull request as ready for review December 25, 2023 19:26
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wang-chen commented Dec 25, 2023

Suggest to fix all lietensor operations. For example:

def func(pose, points):
    return pose.Exp() @ points
pose = pp.randn_se3(1)
points = torch.randn(1, 3)
jacobian = pp.func.jacrev(func)(pose, points)
assert not pp.hasnan(jacobian)

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zitongzhan commented Dec 26, 2023

The fix is applied to all lietensor ops

@zitongzhan zitongzhan requested a review from wang-chen December 26, 2023 18:50
@zitongzhan zitongzhan merged commit 9729879 into main Dec 26, 2023
@zitongzhan zitongzhan deleted the func/fix_inv branch December 26, 2023 18:58
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Error when using pp.func.jacrev

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@zitongzhan @wang-chen