Functions — github.com/Physical-Intelligence/openpi

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Functions694 in github.com/Physical-Intelligence/openpi

⨍ Functions 694◇ Types & classes 190

↓ 1 callersFunctionload_hdf5_to_dict

(hdf5_file, index, keys_to_ignore=[])

examples/droid/convert_droid_data_to_lerobot.py:351

↓ 1 callersFunctionload_jax_model_and_print_keys

Load JAX model from checkpoint and print all parameter keys. Args: checkpoint_dir: Path to the checkpoint directory

examples/convert_jax_model_to_pytorch.py:408

↓ 1 callersMethodload_pytorch

(self, train_config, weight_path: str)

src/openpi/models/model.py:243

↓ 1 callersFunctionload_raw_episode_data

( ep_path: Path, )

examples/aloha_real/convert_aloha_data_to_lerobot.py:165

↓ 1 callersFunctionload_raw_images_per_camera

(ep: h5py.File, cameras: list[str])

examples/aloha_real/convert_aloha_data_to_lerobot.py:144

↓ 1 callersFunctionload_trajectory

( filepath=None, read_cameras=True, # noqa: FBT002 recording_folderpath=None, camera_kwargs={

examples/droid/convert_droid_data_to_lerobot.py:404

↓ 1 callersMethodloss

( self, action: jnp.ndarray, *, obs: jnp.ndarray | None = None, train: bool = True )

src/openpi/models/utils/fsq_tokenizer.py:446

↓ 1 callersFunctionlr_schedule

(step: int)

scripts/train_pytorch.py:472

↓ 1 callersFunctionmain

(config: _config.TrainConfig)

scripts/train.py:194

↓ 1 callersFunctionmain

()

scripts/train_pytorch.py:625

↓ 1 callersFunctionmain

(args: Args)

scripts/serve_policy.py:99

↓ 1 callersFunctionmain

(args: Args)

examples/simple_client/main.py:117

↓ 1 callersFunctionmain

(args: Args)

examples/droid/main.py:73

↓ 1 callersFunctionmake_block_causal_attention_matrix

(q: jnp.ndarray, k: jnp.ndarray, bs_q: int, bs_k: int)

src/openpi/models/utils/fsq_tokenizer.py:238

↓ 1 callersMethodmark_episode_complete

Marks the end of an episode.

packages/openpi-client/src/openpi_client/runtime/runtime.py:46

↓ 1 callersFunctionmove_arms

(bot_list, target_pose_list, move_time=1)

examples/aloha_real/robot_utils.py:180

↓ 1 callersFunctionmove_grippers

(bot_list, target_pose_list, move_time)

examples/aloha_real/robot_utils.py:193

↓ 1 callersMethodmulti_modal_projector

(self)

src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:426

↓ 1 callersMethodon_episode_end

Called when an episode ends.

packages/openpi-client/src/openpi_client/runtime/subscriber.py:19

↓ 1 callersMethodon_episode_start

Called when an episode starts.

packages/openpi-client/src/openpi_client/runtime/subscriber.py:11

↓ 1 callersMethodon_step

Append a step to the episode.

packages/openpi-client/src/openpi_client/runtime/subscriber.py:15

↓ 1 callersFunctionpopulate_dataset

( dataset: LeRobotDataset, hdf5_files: list[Path], task: str, episodes: list[int] | None = Non

examples/aloha_real/convert_aloha_data_to_lerobot.py:193

↓ 1 callersFunctionposemb_sincos

Computes sine-cosine positional embedding vectors for scalar positions.

src/openpi/models/pi0.py:48

↓ 1 callersFunctionposemb_sincos_2d

Follows the MoCo v3 logic.

src/openpi/models/siglip.py:27

↓ 1 callersFunctionprevent_keyboard_interrupt

Temporarily prevent keyboard interrupts by delaying them until after the protected code.

examples/droid/main.py:55

↓ 1 callersMethodprint_all_stats

Print statistics for all keys in a concise format.

examples/simple_client/main.py:70

↓ 1 callersFunctionput_along_last_axis

Like np.put_along_axis(..., axis=-1), since jax is missing it.

src/openpi/models/pi0_fast.py:67

↓ 1 callersMethodread_cameras

(self, index=None, camera_type_dict={}, timestamp_dict={})

examples/droid/convert_droid_data_to_lerobot.py:296

↓ 1 callersMethodread_timestep

(self, index=None, keys_to_ignore=[])

examples/droid/convert_droid_data_to_lerobot.py:381

↓ 1 callersMethodsample_actions

( self, rng: at.KeyArrayLike, observation: _model.Observation, *, num_

src/openpi/models/pi0.py:217

↓ 1 callersFunctionsample_beta

(alpha, beta, bsize, device)

src/openpi/models_pytorch/pi0_pytorch.py:45

↓ 1 callersMethodsample_time

(self, bsize, device)

src/openpi/models_pytorch/pi0_pytorch.py:182

↓ 1 callersFunctionsave_checkpoint

Save a checkpoint with model state, optimizer state, and metadata.

scripts/train_pytorch.py:149

↓ 1 callersFunctionserialize_json

Serialize the running statistics to a JSON string.

src/openpi/shared/normalize.py:124

↓ 1 callersMethodset_decoder

(self, decoder)

src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:158

↓ 1 callersMethodset_frame_index

(self, index)

examples/droid/convert_droid_data_to_lerobot.py:224

↓ 1 callersMethodset_gripper_pose

(self, left_gripper_desired_pos_normalized, right_gripper_desired_pos_normalized)

examples/aloha_real/real_env.py:98

↓ 1 callersMethodset_input_embeddings

(self, value)

src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:155

↓ 1 callersFunctionset_jax_cpu_backend_if_no_gpu

()

src/openpi/conftest.py:7

↓ 1 callersMethodset_reading_parameters

( self, image=True, # noqa: FBT002 concatenate_images=False, # noqa: FBT002

examples/droid/convert_droid_data_to_lerobot.py:198

↓ 1 callersFunctionset_seed

(seed: int, local_rank: int)

scripts/train_pytorch.py:118

↓ 1 callersFunctionsetup_ddp

()

scripts/train_pytorch.py:94

↓ 1 callersMethodsetup_robots

(self)

examples/aloha_real/real_env.py:62

↓ 1 callersFunctionslice_gemma_state_dict

Convert Gemma JAX parameters to PyTorch format.

examples/convert_jax_model_to_pytorch.py:271

↓ 1 callersFunctionslice_initial_orbax_checkpoint

Load and process params by restoring via JAX model loader first. This respects dtype conversions that occur during model restore.

examples/convert_jax_model_to_pytorch.py:396

↓ 1 callersFunctionslice_paligemma_state_dict

Convert PaliGemma JAX parameters to PyTorch format.

examples/convert_jax_model_to_pytorch.py:50

↓ 1 callersMethodstep

(carry)

src/openpi/models/pi0.py:239

↓ 1 callersMethodtokenize

( self, prompt: str, state: np.ndarray, actions: np.ndarray | None )

src/openpi/models/tokenizer.py:64

↓ 1 callersFunctiontorque_off

(bot)

examples/aloha_real/robot_utils.py:237

↓ 1 callersFunctiontrain_loop

(config: _config.TrainConfig)

scripts/train_pytorch.py:309

↓ 1 callersFunctiontransform_dataset

Transform the dataset by applying the data transforms.

src/openpi/training/data_loader.py:172

↓ 1 callersFunctiontransform_iterable_dataset

Transform the dataset by applying the data transforms.

src/openpi/training/data_loader.py:194

↓ 1 callersFunctiontree_to_info

Converts a PyTree into a human-readable string for logging. Optionally, `interp_func` can be provided to convert the leaf values to more meaningfu

src/openpi/training/utils.py:27

↓ 1 callersFunctiontrunc_normal_tf_

Fills the input Tensor with values drawn from a truncated normal distribution. The values are effectively drawn from the normal distribution :

src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:77

↓ 1 callersMethodundigitize

(self, digits: jnp.ndarray)

src/openpi/models/utils/fsq_tokenizer.py:117

↓ 1 callersMethodvision_tower

(self)

src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:422

↓ 1 callersMethodwrite_parquet

Save the timings to a parquet file.

examples/simple_client/main.py:109

FunctionModule

Factory function, because linen really don't like what I'm doing!

src/openpi/models/siglip.py:293

Method__call__

Apply transformation to the data. Args: data: The data to apply the transform to. This is a possibly nested dictionary that conta

src/openpi/transforms.py:25

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:68

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:99

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:108

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:126

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:158

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:189

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:198

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:212

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:234

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:252

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:273

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:297

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:316

Method__call__

(self, data: DataDict)

src/openpi/transforms.py:333

Method__call__

(self, data: dict)

src/openpi/policies/droid_policy.py:35

Method__call__

(self, data: dict)

src/openpi/policies/droid_policy.py:79

Method__call__

(self, data: dict)

src/openpi/policies/libero_policy.py:42

Method__call__

(self, data: dict)

src/openpi/policies/libero_policy.py:95

Method__call__

(self, data: dict)

src/openpi/policies/aloha_policy.py:42

Method__call__

(self, data: dict)

src/openpi/policies/aloha_policy.py:98

Method__call__

Create a group.

src/openpi/training/config.py:102

Method__call__

(self, model_config: _model.BaseModelConfig)

src/openpi/training/config.py:113

Method__call__

(self, directory: epath.Path)

src/openpi/training/checkpoints.py:118

Method__call__

(self, path: nnx.filterlib.PathParts, x: Any)

src/openpi/shared/nnx_utils.py:60

Method__call__

(self, x)

src/openpi/models/vit.py:35

Method__call__

Applies the AddPositionEmbs module. Args: inputs: Inputs to the layer. Returns: Output tensor with shape `(bs, t

src/openpi/models/vit.py:50

Method__call__

Applies Transformer MlpBlock module.

src/openpi/models/vit.py:78

Method__call__

Applies Encoder1DBlock module. Args: inputs: Inputs to the layer. deterministic: Dropout will not be applied when set to

src/openpi/models/vit.py:124

Method__call__

Applies Transformer model on the inputs. Args: x: Inputs to the layer. train: Set to `True` when training. Retur

src/openpi/models/vit.py:180

Method__call__

(self, inputs, *, train)

src/openpi/models/vit.py:235

Method__call__

(self, x, cond)

src/openpi/models/gemma.py:115

Method__call__

(self, xs, positions, attn_mask, kv_cache)

src/openpi/models/gemma.py:164

Method__call__

(self, x)

src/openpi/models/gemma.py:260

Method__call__

(self, xs, kv_cache, positions, attn_mask, adarms_cond, deterministic=True)

src/openpi/models/gemma.py:293

Method__call__

( self, # list of token arrays, one for each expert, or None if that expert should not be run

src/openpi/models/gemma.py:389

Method__call__

Applies Transformer MlpBlock module.

src/openpi/models/siglip.py:61

Method__call__

(self, x, deterministic=True)

src/openpi/models/siglip.py:84

Method__call__

(self, x, deterministic=True)

src/openpi/models/siglip.py:123

Method__call__

(self, x)

src/openpi/models/siglip.py:172

Method__call__

(self, image, *, train=False)

src/openpi/models/siglip.py:208

Method__call__

(self, eqn, x)

src/openpi/models/gemma_fast.py:81

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