Search Results for author: Paloma Sodhi

Found 2 papers, 1 papers with code

Theseus: A Library for Differentiable Nonlinear Optimization

1 code implementation19 Jul 2022 Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky T. Q. Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam

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

no code implementations7 Dec 2020 Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

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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