Library for Jacobian descent with PyTorch. It enables the optimization of neural networks with multiple losses (e.g. multi-task learning).

Simple C++ Inverse Kinematics library, taking axis, lengths and a goal position and solves the inverse kinematics using Jacobian Gradient Descent.

Optimization of simple functions with JD and plot of the trajectories.

This repo is used to compare different torchjd functions (e.g. aggregators), potentially from different commits of torchjd, on a variety of topics (computation time, precision, etc.)