Jacobian Python Packages

pytorch-kinematics

Robot kinematics implemented in pytorch

roboticstoolbox-python

Robotics Toolbox for Python

jaxsim

A differentiable physics engine and multibody dynamics library for control and robot learning.

jenn

Jacobian-Enhanced Neural Networks (JENN) are fully connected multi-layer perceptrons, whose training process was modified to account for gradient information. Specifically, the parameters are learned by minimizing the Least Squares Estimator (LSE), modified to minimize prediction error of both response values and partial derivatives.

asdex

Automatic Sparse Differentiation in JAX.

fastdual

forward-mode automatic differentiation via dual numbers as a CPython C extension

synria-robocore

Unified High-Throughput Robotics Library

skgrad

Analytic input gradients and Jacobians for supported fitted scikit-learn models, including linear models, kernel SVMs, MLPs, and preprocessing pipelines.

pytorch-kinematics-ms

Robot kinematics implemented in pytorch

disptools

Generate displacement fields with known volume changes

nngeometry

{KFAC,EKFAC,Diagonal,Implicit} Fisher Matrices and finite width NTKs in PyTorch

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An awesome and fast automatic differentiation calculation tool using Automatic Differentiation (supporting both forward and reverse mode).

autograv

Numerical relativity through automatic differentiation