Causal 3d convolusion.

Causal self-attention with a single head.

Configuration for a modality defining how data should be sampled and loaded. This class specifies which indices to sample relative to a base inde

Implements the Policy interface by communicating with a server over websocket. See WebsocketPolicyServer for a corresponding server implementatio

Sampler for dataset, which enables `set_epoch` for Dataset. `set_epoch` will be called by huggingface Trainer at the end of each epoch. `shuff

`UniPCMultistepScheduler` is a training-free framework designed for the fast sampling of diffusion models. This model inherits from [`Schedu

Base dataset class for LeRobot that supports sharding.

Type of rotation representation

Produces a sinusoidal encoding of shape (B, T, w) given timesteps of shape (B, T).

XLMRobertaModel with no pooler and no LM head.

Wrapper policy that implements roboarena.policy.BasePolicy interface for AR_droid. Handles: - Observation format conversion (roboarena ->

Copied from https://github.com/hehao13/CameraCtrl/blob/main/inference.py

This callback format checkpoint to make them standalone. For now, it copies all config files to /checkpoint-{step}/experiment_cfg/: - conf.yam

Compose multiple modality transforms.

Metadata of the trainable dataset Changes: - Update to use the new RawCommitHashMetadataMetadata_V1_2

Usage: logging.getLogger('name').addFilter( ExcludeLoggingFilter(['info mess*age', 'Warning: *']) ) Supports wildcard. https:

Callback that writes per-step loss metrics to a JSONL file for offline analysis.

Normalizer that applies different statistics for each horizon index. Unlike the standard Normalizer which uses single stats for all timesteps

Print to file and save/close the handle at the end.

Callback to manage PyTorch profiler during training. Dynamically starts/stops the profiler within a specified session step window. After prof

Adapted from https://github.com/real-stanford/diffusion_policy/blob/548a52bbb105518058e27bf34dcf90bf6f73681a/diffusion_policy/model/common/rotation_tr