Why optimize vo or imu model every data sequence not every epoch?

[ChillTerry]

Hi,

Great work on the project! After reviewing your entire codebase, I have two questions:

Optimization Frequency: Why do you optimize the VO or IMU model after each data sequence rather than at the end of every epoch? I noticed that during each epoch you only perform backpropagation and defer calling optimizer.step() until after the entire dataset has been processed. Have you tried updating the model weights at the end of each epoch?

Alternating Optimization: Why do you optimize the VO and IMU models alternately instead of updating them simultaneously? Have you experimented with optimizing both models together?

Thanks for your time and insights!