arxiv.org/abs/1807.02547

The group SE(3) is the group of 3 dimensional rotations and translations. This library aims to create SE(3) equivariant convolutional neural networks.

import torch
from se3cnn import SE3Convolution

size = 32  # space size

scalar_field = torch.randn(1, 1, size, size, size)  # [batch, _, x, y, z]

Rs_in = [(1, 0)]  # 1 scalar field
Rs_out = [(1, 1)]  # 1 vector field
conv = SE3Convolution(Rs_in, Rs_out, size=5)
# conv.weight.size() == [2] (2 radial degrees of freedom)

vector_field = conv(scalar_field)  # [batch, vector component, x, y, z]

# vector_field.size() == [1, 3, 28, 28, 28]

• se3cnn contains the library
  • se3cnn/convolution.py defines SE3Convolution the main class of the library
  • se3cnn/blocks defines ways of introducing non linearity in an equivariant way
  • se3cnn/batchnorm.py equivariant batch normalization
  • se3cnn/groupnorm.py equivariant group normalization
  • se3cnn/dropout.py equivariant dropout
• experiments contains experiments made with the library
• examples simple scripts

• pytorch
• lie_learn is required to compute the irreducible representations of SO(3)
• scipy

Install with

python setup.py install