Chen Wang

I can see the status of this PR is still in progress, if you are ready for review, please let me know.

Hi, I renamed some names and tried to make these functions work for arbitrary dimensional space such 2D. You also need to add auto tests for those functions, such as...

Hi @YuqingLi-hub , Thank you so much for this update. The provided testing codes are to be working fine. I tried the following test codes, it seems that they cannot...

Until now, I have tried: Change [this line](https://github.com/pypose/pypose/blob/46cc5a6dae05d69dc14e1db321dc588f54f4c695/pypose/function/geometry.py#L436) to ```python minp = torch.min(points[..., :dim], dim=-2, keepdim=True).values ``` [this line](https://github.com/pypose/pypose/blob/46cc5a6dae05d69dc14e1db321dc588f54f4c695/pypose/function/geometry.py#L450) to ```python voxel_counts = torch.zeros(unique_indices.shape[:-1], dtype=points.dtype) ``` You may want to...

need both [functions](https://pytorch.org/docs/stable/generated/torch.nn.functional.mse_loss.html) and [modules](https://pytorch.org/docs/stable/generated/torch.nn.MSELoss.html)

Hi, this is a better implementation for Jacobian computation of dynamics systems. I'll suggest replacing the one inside the dynamics system, not only implementing it inside LQR, so that all...

Hi, it would be great if you could provide your scripts and data so that we can reproduce your results. I am guessing that some hyperparameter tuning may be able...

Hi, given the use case, you have multiple options. (1) You only need to define `model.B` as `pp.Parameter` and define `model.A` as normal `torch.Tensor` or `pp.LieTensor`. (2) Only provide `model.B`...

Hi @VladimirYugay, We just released a new usage for 2nd-order optimizers in `v0.6.2`. You may update it by `pip install -U pypose`. It is fully backward compatible. Basically, you can...

Hi, you called `se3` not `SE3`. You can refer to [Log](https://pypose.org/docs/main/generated/pypose.Log/) and [Exp](https://pypose.org/docs/main/generated/pypose.Exp/) to see the relation between Lie Algebra and Lie Group. I guess you want Lie Group (`SE3`)....