thirdparty/DROID-SLAM/droid_slam/modules/clipping.py

import torch
import torch.nn as nn
import torch.nn.functional as F

GRAD_CLIP = .01

class GradClip(torch.autograd.Function):
    @staticmethod
    def forward(ctx, x):
        return x

    @staticmethod
    def backward(ctx, grad_x):
        o = torch.zeros_like(grad_x)
        grad_x = torch.where(grad_x.abs()>GRAD_CLIP, o, grad_x)
        grad_x = torch.where(torch.isnan(grad_x), o, grad_x)
        return grad_x

class GradientClip(nn.Module):
    def __init__(self):
        super(GradientClip, self).__init__()

    def forward(self, x):
        return GradClip.apply(x)