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facebookresearch/theseus

A library for differentiable nonlinear optimization

2 good first / help-wanted issues · Python · last activity Sep 13, 2026

2.1K stars 149 forks 2.1K watchers Python MIT License
bilevel-optimization computer-vision deep-learning differentiable-optimization embodied-ai gauss-newton implicit-differentiation levenberg-marquardt nonlinear-least-squares pytorch robotics
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2 Open Issues Need Help Last updated: Sep 13, 2026

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Clean up unit tests 3 days ago
enhancement good first issue
facebookresearch/theseus
2.1K

A library for differentiable nonlinear optimization

Python
#bilevel-optimization#computer-vision#deep-learning#differentiable-optimization#embodied-ai#gauss-newton#implicit-differentiation#levenberg-marquardt#nonlinear-least-squares#pytorch#robotics
Add option to pass device when constructing a new Objective 4 months ago
good first issue refactor
facebookresearch/theseus
2.1K

A library for differentiable nonlinear optimization

Python
#bilevel-optimization#computer-vision#deep-learning#differentiable-optimization#embodied-ai#gauss-newton#implicit-differentiation#levenberg-marquardt#nonlinear-least-squares#pytorch#robotics