**LAMB** is a a layerwise adaptive large batch optimization technique. It provides a strategy for adapting the learning rate in large batch settings. LAMB uses [Adam](https://paperswithcode.com/method/adam) as the base algorithm and then forms an update as:

$$r\_{t} = \frac{m\_{t}}{\sqrt{v\_{t}} + \epsilon}$$
$$x\_{t+1}^{\left(i\right)} = x\_{t}^{\left(i\right)}  - \eta\_{t}\frac{\phi\left(|| x\_{t}^{\left(i\right)} ||\right)}{|| m\_{t}^{\left(i\right)} || }\left(r\_{t}^{\left(i\right)}+\lambda{x\_{t}^{\left(i\right)}}\right) $$

Unlike [LARS](https://paperswithcode.com/method/lars), the adaptivity of LAMB is two-fold: (i) per dimension normalization with respect to the square root of the second moment used in Adam and (ii) layerwise normalization obtained due to layerwise adaptivity.

**DROID-SLAM** is a deep learning based SLAM system. It consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. This layer leverages geometric constraints, improves accuracy and robustness, and enables a monocular system to handle stereo or RGB-D input without retraining. It builds a dense 3D map of the environment while simultaneously localizing the camera within the map.

DROID-SLAM

DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras

LAMB

Large Batch Optimization for Deep Learning: Training BERT in 76 minutes

**ClusterFit** is a self-supervision approach for learning image representations.  Given a dataset, we (a) cluster its features extracted from a pre-trained network using k-means and (b) re-train a new network from scratch on this dataset using cluster assignments as pseudo-labels.

Source	Large Batch Optimization for Deep Learning: Training BERT in 76 minutes
Year	2000
Data Source	CC BY-SA - https://paperswithcode.com