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@zitongzhan zitongzhan released this 02 Apr 01:15
· 177 commits to release since this release
0.2
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Learn about vigilant mode.

This release makes TrackingTensor LieTensor-aware and removes the main API friction when optimizing PyPose group parameters.

Highlights:

  • TrackingTensor now preserves PyPose LieTensor type information, including pp.SE3.
  • LieTensor behavior survives nn.Parameter(...), indexing, and torch.cat(..., dim=0).
  • PGO residuals can now use native LieTensor expressions directly, without repeated pp.SE3(...) casts.
  • True LieTensor parameters use geometry-aware update shapes automatically via a shared parameter_update_shape(...) helper.
  • True pp.SE3 parameters no longer need trim_SE3_grad in pgo.py.
  • Mixed Euclidean tensors that embed SE(3) state still remain supported through the existing trim_SE3_grad path.

Compatibility:

  • No new public tracking API was introduced.
  • Existing plain-tensor TrackingTensor behavior is unchanged.
  • trim_SE3_grad is still needed only for mixed tensor layouts, not for real PyPose LieTensor parameters.

Update with

pip install --force-reinstall git+https://github.com/zitongzhan/bae.git
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