Get observation from environment

Get robotwin 2.0 task

Return world size for the tensor model parallel group.

Return a dictionary containing name to a shape and dtype.

NOTE: This method is a hack from the open-sourced version without asertion of world_size = tp * pp Initialize model parallel groups.

NOTE: This method is a hack from the open-sourced version without asertion of world_size = tp * pp Initialize model parallel groups.

Initialize the internal mplib planner with additional required information This should be called after the CuroboPlanner is c

load all model params to cuda

Log data to file and optionally console. Args: data: Dictionary containing metrics/data to log step:

Make minibatch iterator for updating the actor Args: data (DataProto): a DataProto containing keys ``input_ids``

r"""Works like os.makedirs() but supports hdfs. Super-mkdir; create a leaf directory and all intermediate ones. Works like mkdir, except tha

Exact match of math if and only if: 1. numerical equal: both can convert to float and are equal 2. symbolic equal: both can convert to sy

Normalize the pp vpp params into a complete named parameters. This is useful when gather parameters from pp ranks and passed to a model with

Check if the tokenizer group is alive.

Plan gripper motion - simple linear interpolation

Plan a single path

Pop a subset of the DataProto via `batch_keys` and `meta_info_keys` Args: batch_keys (list, optional): a list of strings indicati

Unified input processing for both Robotwin and Libero

This is the equivalent of torch.repeat_interleave(x, dim=1, repeats=n_rep). The hidden states go from (batch, num_key_value_heads, seqlen, he

Takes numpy array corresponding to a single image and returns resized image as numpy array. NOTE (Moo Jin): To make input images in distribu

Saves an MP4 replay of an episode.

Split the elements in a tuple/interval, while handling well-formatted commas in large numbers

Update the AutoMap configuration in the checkpoint config.json file. This loads the config.json file inside the checkpoint directory and ove

Bind the worker method to the WorkerGroup

Binds the methods of each worker to the WorkerDict. Note that we only bind public methods that are decorated by register

broadcast tensor in tp shards across mp_group

broadcast tensor in tp shards across mp_group

broadcast tensor in tp shards across mp_group

broadcast tensor in tp shards across mp_group

broadcast tensor in tp shards across mp_group