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github.com/EGalahad/vla-scratch
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Functions
336 in github.com/EGalahad/vla-scratch
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Functions
336
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Types & classes
74
Method
__exit__
(self, exc_type, exc, tb)
vla_scratch/utils/serving/zmq_policy_client.py:38
Method
__getitem__
(self, index: SupportsIndex)
vla_scratch/transforms/base.py:30
Method
__getitem__
(self, key: str)
vla_scratch/datasets/config.py:46
Method
__getitem__
(self, key: str)
vla_scratch/datasets/config.py:69
Method
__getitem__
(self, idx)
vla_scratch/datasets/libero/dataset.py:65
Method
__getitem__
(self, idx)
vla_scratch/datasets/dont_blind/lerobot_dataset.py:202
Method
__getitem__
(self, idx)
vla_scratch/datasets/droid/dataset.py:65
Method
__getitem__
(self, idx)
vla_scratch/datasets/libero_global/dataset_ipec.py:81
Method
__getitem__
(self, idx)
vla_scratch/datasets/libero_global/dataset.py:70
Method
__getitem__
(self, idx)
vla_scratch/datasets/bbox_cotrain/dataset.py:260
Method
__getitem__
(self, idx: int)
scripts/generation/dummy_dataset.py:35
Method
__init__
( self, sampler: Iterable[int], batch_size: int, drop_last: bool, num_
vla_scratch/utils/dataloader.py:10
Method
__init__
( self, *, host: str = "0.0.0.0", port: int | None = None, max_queue_s
vla_scratch/utils/serving/zmq_policy_server.py:21
Method
__init__
( self, host: str = "127.0.0.1", port: int = 8000, *, rcv_timeout_ms:
vla_scratch/utils/serving/zmq_policy_client.py:9
Method
__init__
( self, # iterator_fn: Callable[[int], Iterator], dataloader: DataLoader, num_
vla_scratch/helpers/training.py:555
Method
__init__
( self, dataloader: DataLoader, num_epochs: int, )
vla_scratch/helpers/training.py:624
Method
__init__
(self, eps=1e-6)
vla_scratch/policies/modules/action_expert/cross_attention_dit.py:37
Method
__init__
(self, cond_dim: int, dim: int, eps: float = 1e-6)
vla_scratch/policies/modules/action_expert/cross_attention_dit.py:60
Method
__init__
( self, head_dim: int, max_position_embeddings: int, base: float )
vla_scratch/policies/modules/action_expert/cross_attention_dit.py:104
Method
__init__
(self, config: DiTConfig, layer_idx: int)
vla_scratch/policies/modules/action_expert/cross_attention_dit.py:162
Method
__init__
(self, config: DiTConfig, layer_idx: int)
vla_scratch/policies/modules/action_expert/cross_attention_dit.py:278
Method
__init__
(self, config: DiTConfig)
vla_scratch/policies/modules/action_expert/cross_attention_dit.py:359
Method
__init__
(self, *, model_id: str, vlm_type: str)
vla_scratch/policies/modules/vlm_bridge/smolvlm/bridge.py:34
Method
__init__
( self, processor_class: str, model_id: str, max_length: int = 256, pa
vla_scratch/policies/modules/vlm_bridge/smolvlm/processor.py:26
Method
__init__
(self, *, model_id: str, vlm_type: str, max_length: int = 64)
vla_scratch/policies/modules/vlm_bridge/paligemma/bridge.py:35
Method
__init__
( self, processor_class: str, model_id: str, max_length: int = 256, tr
vla_scratch/policies/modules/vlm_bridge/paligemma/processor.py:26
Method
__init__
(self, *, model_id: str, vlm_type: str)
vla_scratch/policies/modules/vlm_bridge/qwen/bridge.py:43
Method
__init__
( self, processor_class: str, model_id: str, max_length: int = 256, pa
vla_scratch/policies/modules/vlm_bridge/qwen/processor.py:30
Method
__init__
(self, config: "PiConfig")
vla_scratch/policies/pi/policy.py:56
Method
__init__
( self, dataset: torch.utils.data.Dataset, transforms: Sequence[TransformFn], )
vla_scratch/transforms/base.py:21
Method
__init__
( self, norm_stats: NormStats, *, use_quantiles: bool = True, strict:
vla_scratch/transforms/normalization.py:293
Method
__init__
( self, config: "LiberoConfig", )
vla_scratch/datasets/libero/dataset.py:24
Method
__init__
(self, config: "DontBlindConfig")
vla_scratch/datasets/dont_blind/lerobot_dataset.py:126
Method
__init__
( self, config: "DROIDConfig", )
vla_scratch/datasets/droid/dataset.py:24
Method
__init__
( self, config: "LiberoIPECConfig", )
vla_scratch/datasets/libero_global/dataset_ipec.py:38
Method
__init__
( self, config: "LiberoIPECConfig", )
vla_scratch/datasets/libero_global/dataset.py:23
Method
__init__
(self, config: "CoTrainConfig")
vla_scratch/datasets/bbox_cotrain/dataset.py:166
Method
__init__
( self, model: "BasePolicy", input_transforms: Sequence["TransformFn"], output
scripts/serve_policy.py:124
Method
__init__
(self, cfg)
scripts/generation/dummy_dataset.py:25
Method
__init__
(self, **kwargs)
examples/libero/simulation.py:236
Method
__iter__
(self)
vla_scratch/utils/dataloader.py:35
Method
__iter__
(self)
vla_scratch/helpers/training.py:574
Method
__iter__
(self)
vla_scratch/helpers/training.py:634
Method
__iter__
(self)
vla_scratch/datasets/config.py:55
Method
__iter__
(self)
vla_scratch/datasets/config.py:78
Method
__len__
(self)
vla_scratch/utils/dataloader.py:60
Method
__len__
(self)
vla_scratch/transforms/base.py:39
Method
__len__
(self)
vla_scratch/datasets/config.py:58
Method
__len__
(self)
vla_scratch/datasets/config.py:81
Method
__len__
(self)
vla_scratch/datasets/libero/dataset.py:62
Method
__len__
(self)
vla_scratch/datasets/dont_blind/lerobot_dataset.py:199
Method
__len__
(self)
vla_scratch/datasets/droid/dataset.py:62
Method
__len__
(self)
vla_scratch/datasets/libero_global/dataset_ipec.py:78
Method
__len__
(self)
vla_scratch/datasets/libero_global/dataset.py:67
Method
__len__
(self)
vla_scratch/datasets/bbox_cotrain/dataset.py:257
Method
__len__
(self)
scripts/generation/dummy_dataset.py:32
Method
__next__
(self)
vla_scratch/helpers/training.py:577
Method
__next__
(self)
vla_scratch/helpers/training.py:637
Method
__setitem__
(self, key: str, value: EvalDatasetCfg)
vla_scratch/datasets/config.py:49
Method
__setitem__
(self, key: str, value: TrainDatasetCfg)
vla_scratch/datasets/config.py:72
Method
_denormalize
( tensor: torch.Tensor, stats: FieldNormStats )
vla_scratch/transforms/normalization.py:321
Method
_denormalize_quantile
( tensor: torch.Tensor, stats: FieldNormStats )
vla_scratch/transforms/normalization.py:327
Function
_gemma2_decoder_layer_custom_forward
Custom forward for a GemmaDecoderLayer used in prefix encoding.
vla_scratch/policies/modules/vlm_bridge/paligemma/utils.py:89
Function
_gemma_decoder_layer_custom_forward
Custom forward for a GemmaDecoderLayer used in prefix encoding. This mirrors the previous inline `compute_layer` function, but is defined as
vla_scratch/policies/modules/vlm_bridge/paligemma/utils.py:35
Method
_normalize
(tensor: torch.Tensor, stats: FieldNormStats)
vla_scratch/transforms/normalization.py:222
Method
_normalize_quantile
( tensor: torch.Tensor, stats: FieldNormStats )
vla_scratch/transforms/normalization.py:226
Function
_prefetch_required_chunks
( meta: LeRobotDatasetMetadata, download_videos: bool = True, )
vla_scratch/datasets/dont_blind/lerobot_dataset.py:249
Function
_prefetch_required_chunks
( meta: LeRobotDatasetMetadata, download_videos: bool = True, )
vla_scratch/datasets/bbox_cotrain/dataset.py:326
Function
_qwen3_vision_attn_fast_forward
( self: "Qwen3VLVisionAttention", hidden_states: torch.Tensor, cu_seqlens: torch.Tensor, rotar
vla_scratch/policies/modules/vlm_bridge/qwen/utils.py:148
Function
_qwen3_vision_model_fast_forward
Args: hidden_states (`torch.Tensor` of shape `(seq_len, hidden_size)`): The final hidden states of the model. grid_th
vla_scratch/policies/modules/vlm_bridge/qwen/utils.py:208
Function
_qwen_text_decoder_layer_custom_forward
( self: "Qwen3VLTextDecoderLayer", hidden_states: torch.Tensor, *, attention_mask: Optional[to
vla_scratch/policies/modules/vlm_bridge/qwen/utils.py:306
Function
_qwen_text_rotary_forward_fp32
Compute text rotary embeddings in fp32 then cast to input dtype.
vla_scratch/policies/modules/vlm_bridge/qwen/utils.py:281
Function
_replace_data
(match: re.Match[str])
vla_scratch/utils/config.py:36
Function
_replace_policy
(match: re.Match[str])
vla_scratch/utils/config.py:40
Function
_score
(d: Path)
vla_scratch/utils/checkpoint.py:100
Method
_serve_loop
Background thread that handles ZMQ ROUTER socket I/O. Receives requests from multiple clients and queues them. Sends responses back t
vla_scratch/utils/serving/zmq_policy_server.py:94
Function
_siglip_encoder_foward
( self: "SiglipEncoder", inputs_embeds, attention_mask: Optional[torch.Tensor] = None, **kwarg
vla_scratch/policies/modules/vlm_bridge/paligemma/utils.py:17
Function
_smolvlm_get_image_features_fast
Simplified image encoder forward that assumes inputs are already trimmed (no padding images). Avoids host-side scans over zero-filled padding
vla_scratch/policies/modules/vlm_bridge/smolvlm/utils.py:104
Function
_smolvlm_inputs_merger_fast
GPU-friendly merger that avoids boolean indexing syncs.
vla_scratch/policies/modules/vlm_bridge/smolvlm/utils.py:15
Function
_smolvlm_text_decoder_layer_forward
Minimal Llama decoder layer forward with fused projections + sdpa.
vla_scratch/policies/modules/vlm_bridge/smolvlm/utils.py:146
Function
_smolvlm_vision_embeddings_fast
Fast path assuming `patch_attention_mask` is all True. Matches the reference bucketization without Python loops.
vla_scratch/policies/modules/vlm_bridge/smolvlm/utils.py:61
Method
ada_mod_init
(module)
vla_scratch/policies/modules/action_expert/cross_attention_dit.py:394
Method
apply_fsdp
(self, mp_policy, mesh)
vla_scratch/policies/modules/vlm_bridge/base.py:46
Method
apply_fsdp
(self, mp_policy, mesh)
vla_scratch/policies/modules/vlm_bridge/smolvlm/bridge.py:58
Method
apply_fsdp
(self, mp_policy, mesh)
vla_scratch/policies/modules/vlm_bridge/paligemma/bridge.py:62
Method
apply_fsdp
(self, mp_policy, mesh)
vla_scratch/policies/modules/vlm_bridge/qwen/bridge.py:72
Method
apply_fsdp
Helper function to apply FSDP to a module with given mixed precision policy.
vla_scratch/policies/pi/policy.py:189
Method
basic_init
(module)
vla_scratch/policies/modules/action_expert/cross_attention_dit.py:385
Function
collate_fn
(batch)
vla_scratch/helpers/training.py:126
Method
collate_fn
(batch: Sequence[Tuple[Any, TensorDict]])
vla_scratch/transforms/base.py:18
Method
compute
(self, sample: "DataSample")
vla_scratch/policies/modules/vlm_bridge/smolvlm/processor.py:64
Method
compute
(self, sample: "DataSample")
vla_scratch/policies/modules/vlm_bridge/paligemma/processor.py:51
Method
compute
(self, sample: "DataSample")
vla_scratch/policies/modules/vlm_bridge/qwen/processor.py:56
Method
compute
(self, sample: Dict[str, torch.Tensor])
vla_scratch/transforms/common.py:22
Method
compute
(self, sample: Dict[str, Any])
vla_scratch/transforms/common.py:51
Method
compute
( self, sample: Dict[str, torch.Tensor] )
vla_scratch/transforms/normalization.py:203
Method
compute
( self, sample: Dict[str, torch.Tensor] )
vla_scratch/transforms/normalization.py:308
Method
compute
(self, sample: Dict)
vla_scratch/datasets/libero_global/transforms.py:48
Method
compute
(self, sample: Dict)
vla_scratch/datasets/libero_global/transforms.py:82
Method
compute
(self, sample: Dict)
vla_scratch/datasets/libero_global/transforms.py:102
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