jaxls

[ Documentation ]

jaxls is a solver for sparse, constrained, and/or non-Euclidean least squares problems in JAX.

Projects using jaxls

egoallo	For guiding diffusion model sampling with 2D observations / reprojection errors.
videomimic	For joint human-scene optimization and motion retargeting.
pyroki	For solving inverse kinematics, motion planning, etc for robots.
ProtoMotions	For trajectory-level humanoid motion retargeting (via PyRoki).

The documentation also covers how you can use it for things like cloth simulation:

Camera calibration:

Mesh optimization:

And optimal control:

https://github.com/user-attachments/assets/82c2ad41-d688-4825-9671-8f6af9f2b252