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Found 2 papers, 1 papers with code
Theseus: A Library for Differentiable Nonlinear Optimization
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.
Learning Tactile Models for Factor Graph-based Estimation
In order to incorporate tactile measurements in the graph, we need local observation models that can map high-dimensional tactile images onto a low-dimensional state space.
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