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Functions813 in github.com/GeWu-Lab/AnyTouch2

Methodmake_plots
(self, dataset: data.Dataset, params: Optional[dict] = None)
sparsh/tactile_ssl/test/test_task.py:44
Methodmake_video
(self, dataset: data.Dataset, params: Optional[dict] = None)
sparsh/tactile_ssl/test/test_task.py:47
Methodmedian
(self)
util/misc.py:56
Methodnormalize_image
Rescale image pixels to span range [0, 1]
sparsh/tactile_ssl/downstream_task/forcefield_sl.py:337
Methodnum_training_steps
Total training steps inferred from datamodule and devices.
sparsh/tactile_ssl/trainer/trainer.py:768
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/algorithm/ijepa.py:109
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/algorithm/dinov2.py:168
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/algorithm/dino.py:154
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/algorithm/vjepa.py:320
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/algorithm/mae.py:241
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/forcefield_sl.py:315
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/pose_sl.py:252
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/textile_sl.py:160
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/slip_sl.py:148
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/grasp_sl.py:134
Methodon_train_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/force_sl.py:165
Methodon_train_epoch_start
(self)
sparsh/tactile_ssl/algorithm/vjepa.py:146
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/algorithm/ijepa.py:130
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/algorithm/dinov2.py:189
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/algorithm/dino.py:175
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/algorithm/vjepa.py:341
Methodon_validation_batch_end
(self, outputs, batch, batch_idx, trainer_instance=None)
sparsh/tactile_ssl/algorithm/mae.py:251
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/downstream_task/forcefield_sl.py:318
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/downstream_task/pose_sl.py:255
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/downstream_task/textile_sl.py:163
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/downstream_task/slip_sl.py:151
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/downstream_task/grasp_sl.py:137
Methodon_validation_batch_end
( self, outputs: Dict, batch: Dict, batch_idx: int, trainer_instance=None )
sparsh/tactile_ssl/downstream_task/force_sl.py:168
Methodon_validation_epoch_end
(self, trainer_instance=None)
sparsh/tactile_ssl/algorithm/dinov2.py:217
Methodon_validation_epoch_end
(self, trainer_instance=None)
sparsh/tactile_ssl/algorithm/dino.py:203
Methodon_validation_epoch_end
(self, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/forcefield_sl.py:335
Methodon_validation_epoch_end
(self, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/pose_sl.py:271
Methodon_validation_epoch_end
(self, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/textile_sl.py:172
Methodon_validation_epoch_end
(self, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/slip_sl.py:167
Methodon_validation_epoch_end
(self, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/grasp_sl.py:146
Methodon_validation_epoch_end
(self, trainer_instance=None)
sparsh/tactile_ssl/downstream_task/force_sl.py:178
Functionpatchify_image
Patchify an image into patches of a given size and stride. Args: x: Image tensor of shape (B, C, H, W). patch_size: Size of
sparsh/tactile_ssl/utils/__init__.py:134
Functionpil_loader
(path, img_bg=None)
sparsh/tactile_ssl/data/digit/utils.py:61
Methodplot_masks
(self, encoder_masks, predictor_masks, x)
sparsh/tactile_ssl/algorithm/ijepa.py:212
Functionplot_quiver
Plots less dense quiver field. Args: ax: Matplotlib axis flow: motion vectors spacing: space (px) between each arrow in g
sparsh/tactile_ssl/downstream_task/utils_forcefield/ssl_utils.py:223
Functionplot_quiver_img
Plots less dense quiver field. Args: ax: Matplotlib axis flow: motion vectors spacing: space (px) between each arrow in g
sparsh/tactile_ssl/downstream_task/utils_forcefield/ssl_utils.py:295
Functionplot_xyz_1d
( ax, x_axis: np.ndarray, y_axis: np.ndarray, labels: List[str], linestyle: str = "solid",
sparsh/tactile_ssl/utils/plotting_utils.py:11
Functionquaternion_apply
Apply the rotation given by a quaternion to a 3D point. Usual torch rules for broadcasting apply. Args: quaternion: Tensor of qu
sparsh/tactile_ssl/utils/__init__.py:110
Methodrandom_masking
Perform per-sample random masking by per-sample shuffling. Per-sample shuffling is done by argsort random noise. x: [N, L, D]
sparsh/tactile_ssl/algorithm/mae.py:83
Functionrandom_seed
(seed=0)
train/main_touchdbench.py:53
Functionrandom_seed
(seed=0)
train/main_objbench.py:38
Methodrescale
(param, layer_id)
model/linear_probe.py:66
Methodrescale
(param, layer_id)
sparsh/tactile_ssl/model/multimodal_transformer.py:127
Methodrescale
(param, layer_id)
sparsh/tactile_ssl/model/vision_transformer.py:237
Methodrescale
(param, layer_id)
sparsh/tactile_ssl/downstream_task/attentive_pooler.py:72
Methodreset_moving_average
(self)
sparsh/tactile_ssl/algorithm/ijepa.py:84
Functionresnet18
()
sparsh/tactile_ssl/model/pretrained.py:12
Methodrestore_tokens
( tokens: torch.Tensor, )
sparsh/tactile_ssl/model/multimodal_transformer.py:269
Methodrun_model
(self, dataset, dataloader)
sparsh/tactile_ssl/test/test_t4_grasp.py:37
Methodrun_model
(self, dataset, dataloader)
sparsh/tactile_ssl/test/test_t2_slip.py:42
Methodrun_model
(self, dataset, dataloader)
sparsh/tactile_ssl/test/test_t1_force.py:37
Methodrun_model
(self)
sparsh/tactile_ssl/test/demo_t1_forcefield.py:192
Methodrun_model
(self, dataset: data.Dataset, dataloader: data.DataLoader)
sparsh/tactile_ssl/test/test_task.py:36
Methodrun_model
(self, dataset, dataloader)
sparsh/tactile_ssl/test/test_t3_pose.py:38
Methodrun_model
(self, dataset, dataloader)
sparsh/tactile_ssl/test/test_t6_textile.py:39
Methodsample_from_codebook
(self, b, n)
model/layers/gumbel_vector_quantizer.py:124
Methodsample_from_codebook
(self, b, n)
sparsh/tactile_ssl/model/layers/gumbel_vector_quantizer.py:124
Functionsave_model
(args, epoch, model, model_without_ddp, optimizer, loss_scaler)
util/misc.py:295
Methodself_attn_residual_func
(q: Tensor)
model/layers/decoder_block.py:105
Methodself_attn_residual_func
(q: Tensor)
sparsh/tactile_ssl/model/layers/decoder_block.py:108
Functionset_equal_aspect_ratio_2D
(ax, xs, ys, alpha=1.5, delta=0.0)
sparsh/tactile_ssl/utils/plotting_utils.py:26
Functionset_equal_aspect_ratio_3D
(ax, xs, ys, zs, alpha=1.5, delta=0.0)
sparsh/tactile_ssl/utils/plotting_utils.py:38
Functionset_global_value
(k, v)
sparsh/tactile_ssl/model/point_mae.py:22
Methodset_num_updates
(self, num_updates)
model/layers/gumbel_vector_quantizer.py:92
Methodset_num_updates
(self, num_updates)
sparsh/tactile_ssl/model/layers/gumbel_vector_quantizer.py:92
Methodset_test_params
(self, task, sensor, ckpt, dataset_name, path_outputs, config=None)
sparsh/tactile_ssl/test/test_task.py:24
Methodshould_log
(self)
sparsh/tactile_ssl/trainer/trainer.py:549
Methodshould_save
Whether to currently save a checkpoint.
sparsh/tactile_ssl/trainer/trainer.py:540
Methodshould_validate
Whether to currently run validation.
sparsh/tactile_ssl/trainer/trainer.py:535
Functionshow_dataset
(object)
sparsh/scripts/download_datasets_scratch/compress_touch_go.py:35
Methodsinkhorn_knopp_teacher
( self, teacher_output, teacher_temp, n_masked_patches_tensor, n_iterations=3 )
sparsh/tactile_ssl/loss/ibot_patch_loss.py:63
Methodsoftmax_center_teacher
(self, teacher_patch_tokens, teacher_temp)
sparsh/tactile_ssl/loss/ibot_patch_loss.py:47
Methodstep
(self)
sparsh/tactile_ssl/model/custom_scheduler.py:59
Methodsynchronize_between_processes
Warning: does not synchronize the deque!
util/misc.py:42
Methodteardown
Restores the signals that were previously configured before :class:`_SignalConnector` replaced them.
sparsh/tactile_ssl/utils/signal_connector.py:128
Methodtest_step
(self, *args, **kwargs)
sparsh/tactile_ssl/downstream_task/sl_module.py:115
Methodto_codebook_index
(self, indices)
model/layers/gumbel_vector_quantizer.py:137
Methodto_codebook_index
(self, indices)
sparsh/tactile_ssl/model/layers/gumbel_vector_quantizer.py:137
Methodtouch_forward
r""" Returns:
model/tactile_mae.py:64
Methodtouch_forward
r""" Returns:
sparsh/tactile_ssl/model/point_mae.py:424
Methodtouch_forward
r""" Returns:
sparsh/tactile_ssl/model/point_mae.py:988
Methodtouch_forward
r""" Returns:
sparsh/tactile_ssl/model/point_mae.py:1461
Methodtraining_step
(self, batch: Dict[str, Any], batch_idx: int)
sparsh/tactile_ssl/algorithm/module.py:13
Methodtraining_step
(self, batch: Dict[str, Any], batch_idx: int, *args, **kwargs)
sparsh/tactile_ssl/downstream_task/sl_module.py:109
Methodunpatchify
x: (N, L, patch_size**2 *3) imgs: (N, 3, H, W)
sparsh/tactile_ssl/model/point_mae.py:784
Methodunpatchify
x: (N, L, patch_size**2 *3) imgs: (N, 3, H, W)
sparsh/tactile_ssl/model/point_mae.py:1404
Functionunpatchify_image
x: (N, L, patch_size**2 *3) patch_size: int imgs: (N, 3, H, W)
sparsh/tactile_ssl/utils/tensors.py:66
Methodupdate_center
(self, teacher_patch_tokens)
sparsh/tactile_ssl/loss/ibot_patch_loss.py:140
Methodupdate_target_encoder
(self)
sparsh/tactile_ssl/algorithm/vjepa.py:149
Methodvalidation_step
(self, batch: Dict[str, Any], batch_idx: int)
sparsh/tactile_ssl/algorithm/ijepa.py:378
Methodvalidation_step
(self, batch: Dict[str, Any], batch_idx: int)
sparsh/tactile_ssl/algorithm/dinov2.py:515
Methodvalidation_step
(self, batch: Dict[str, Any], batch_idx: int)
sparsh/tactile_ssl/algorithm/dino.py:437
Methodvalidation_step
(self, batch: Dict[str, Any], batch_idx: int)
sparsh/tactile_ssl/algorithm/vjepa.py:379
Methodvalidation_step
(self, batch: Dict[str, Any], batch_idx: int)
sparsh/tactile_ssl/algorithm/mae.py:157
Methodvalidation_step
(self, batch: Dict[str, Any], batch_idx: int)
sparsh/tactile_ssl/downstream_task/forcefield_sl.py:271
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