theseus
Theseus is a versatile PyTorch library for nonlinear optimization layers in robotics and vision, featuring differentiable optimization for enhancing neural models. It includes user-centric tools for various optimizers such as Gauss-Newton and Levenberg-Marquardt, supports dense and sparse linear solvers, and has functionalities for robotic kinematics and lie groups. Designed for computational efficiency, it offers GPU acceleration and seamless integration via PyPI or source.
