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github.com/Physical-Intelligence/openpi
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Functions
694 in github.com/Physical-Intelligence/openpi
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Functions
694
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Types & classes
190
Method
__call__
(self, x)
src/openpi/models/gemma_fast.py:90
Method
__call__
(self, x, positions, attn_mask, kv_cache, decode, deterministic=True)
src/openpi/models/gemma_fast.py:186
Method
__call__
(self, x, kv_cache, positions, attn_mask, decode, deterministic=True)
src/openpi/models/gemma_fast.py:261
Method
__call__
Embed only, or complete forward pass. Args: tokens: Embedded, then and appended to `embedded_prefix`. Can be None. embedd
src/openpi/models/gemma_fast.py:303
Method
__call__
(self, eqn: str, x)
src/openpi/models/lora.py:55
Method
__call__
(self, x)
src/openpi/models/lora.py:124
Method
__call__
(self, inputs: jnp.ndarray)
src/openpi/models/utils/fsq_tokenizer.py:88
Method
__call__
(self, x: jnp.ndarray, *, train: bool = True)
src/openpi/models/utils/fsq_tokenizer.py:135
Method
__call__
(self, x: jnp.ndarray, *, train: bool = True)
src/openpi/models/utils/fsq_tokenizer.py:157
Method
__call__
Applies the GeGLU activation to the inputs. Args: inputs: the nd-array to apply the GeGLU activation function to. Returns:
src/openpi/models/utils/fsq_tokenizer.py:255
Method
__call__
( self, x: jnp.ndarray, y: jnp.ndarray, *, mask_self: jnp.ndarray | No
src/openpi/models/utils/fsq_tokenizer.py:276
Method
__call__
( self, y: jnp.ndarray, *, train: bool = True, state_conditioning: jnp
src/openpi/models/utils/fsq_tokenizer.py:351
Method
__call__
Dummy for .init
src/openpi/models/utils/fsq_tokenizer.py:468
Method
__call__
(self, x: dict)
scripts/compute_norm_stats.py:20
Method
__getitem__
(self, index: SupportsIndex)
src/openpi/training/data_loader.py:25
Method
__getitem__
(self, index: SupportsIndex)
src/openpi/training/data_loader.py:58
Method
__getitem__
(self, index: SupportsIndex)
src/openpi/training/data_loader.py:104
Method
__init__
(self, policy: _base_policy.BasePolicy, action_horizon: int)
packages/openpi-client/src/openpi_client/action_chunk_broker.py:19
Method
__init__
(self, host: str = "0.0.0.0", port: Optional[int] = None, api_key: Optional[str] = None)
packages/openpi-client/src/openpi_client/websocket_client_policy.py:18
Method
__init__
( self, environment: _environment.Environment, agent: _agent.Agent, subscriber
packages/openpi-client/src/openpi_client/runtime/runtime.py:13
Method
__init__
(self, policy: _base_policy.BasePolicy)
packages/openpi-client/src/openpi_client/runtime/agents/policy_agent.py:10
Method
__init__
Initialize the Policy. Args: model: The model to use for action sampling. rng: Random number generator key for JAX mo
src/openpi/policies/policy.py:25
Method
__init__
(self, policy: _base_policy.BasePolicy, record_dir: str)
src/openpi/policies/policy.py:116
Method
__init__
( self, data_dir: str, batch_size: int, datasets: Sequence[RLDSDataset],
src/openpi/training/droid_rlds_dataset.py:37
Method
__init__
(self, dataset: Dataset, transforms: Sequence[_transforms.DataTransformFn])
src/openpi/training/data_loader.py:54
Method
__init__
( self, dataset: IterableDataset, transforms: Sequence[_transforms.DataTransformFn],
src/openpi/training/data_loader.py:66
Method
__init__
(self, model_config: _model.BaseModelConfig, num_samples: int)
src/openpi/training/data_loader.py:100
Method
__init__
Create a PyTorch data loader. Args: dataset: The dataset to load. local_batch_size: The local batch size for each pro
src/openpi/training/data_loader.py:384
Method
__init__
( self, dataset: DroidRldsDataset, *, sharding: jax.sharding.Sharding | None =
src/openpi/training/data_loader.py:492
Method
__init__
(self, data_config: _config.DataConfig, data_loader: TorchDataLoader | RLDSDataLoader)
src/openpi/training/data_loader.py:531
Method
__init__
(self)
src/openpi/shared/normalize.py:20
Method
__init__
( self, policy: _base_policy.BasePolicy, host: str = "0.0.0.0", port: int | No
src/openpi/serving/websocket_policy_server.py:21
Method
__init__
(self, **kwargs)
src/openpi/models_pytorch/preprocessing_pytorch.py:161
Method
__init__
(self, config)
src/openpi/models_pytorch/pi0_pytorch.py:85
Method
__init__
( self, vlm_config, action_expert_config, use_adarms=None, precision:
src/openpi/models_pytorch/gemma_pytorch.py:12
Method
__init__
( self, vocab_size=256000, hidden_size=3072, intermediate_size=24576,
src/openpi/models_pytorch/transformers_replace/models/gemma/configuration_gemma.py:115
Method
__init__
(self, dim: int, eps: float = 1e-6, cond_dim: Optional[int] = None)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:50
Method
__init__
(self, config: GemmaConfig, device=None)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:130
Method
__init__
(self, config: GemmaConfig, layer_idx: int)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:259
Method
__init__
(self, config: GemmaConfig, layer_idx: int)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:333
Method
__init__
(self, config: GemmaConfig)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:420
Method
__init__
(self, config)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:567
Method
__init__
(self, config)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:690
Method
__init__
(self, config)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:782
Method
__init__
(self, config: PaliGemmaConfig)
src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:92
Method
__init__
(self, config: PaliGemmaConfig)
src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:389
Method
__init__
(self, config: SiglipVisionConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:213
Method
__init__
(self, config: SiglipTextConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:286
Method
__init__
(self, config)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:351
Method
__init__
(self, config: Union[SiglipVisionConfig, SiglipTextConfig])
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:436
Method
__init__
(self, config: SiglipConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:558
Method
__init__
(self, config: SiglipTextConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:630
Method
__init__
(self, config: SiglipTextConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:700
Method
__init__
(self, config: SiglipVisionConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:749
Method
__init__
(self, config: SiglipVisionConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:802
Method
__init__
(self, config: SiglipVisionConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:832
Method
__init__
(self, config: SiglipConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:885
Method
__init__
(self, config: SiglipConfig)
src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:1120
Method
__init__
(self, max_len: int = 48)
src/openpi/models/tokenizer.py:15
Method
__init__
(self, max_len: int = 256, fast_tokenizer_path: str = "physical-intelligence/fast")
src/openpi/models/tokenizer.py:52
Method
__init__
(self, max_len: int = 256, n_bins: int = 256)
src/openpi/models/tokenizer.py:153
Method
__init__
(self, max_len: int = 256, fsq_tokenizer_path: str | None = None)
src/openpi/models/tokenizer.py:251
Method
__init__
(self, config: pi0_config.Pi0Config, rngs: nnx.Rngs)
src/openpi/models/pi0.py:67
Method
__init__
(self, config: Pi0FASTConfig, rngs: nnx.Rngs)
src/openpi/models/pi0_fast.py:135
Method
__init__
(self)
examples/convert_jax_model_to_pytorch.py:477
Method
__init__
(self, out_dir: pathlib.Path, subsample: int = 1)
examples/aloha_sim/saver.py:13
Method
__init__
(self, task: str, obs_type: str = "pixels_agent_pos", seed: int = 0)
examples/aloha_sim/env.py:12
Method
__init__
(self)
examples/simple_client/main.py:47
Method
__init__
(self)
examples/aloha_real/video_display.py:10
Method
__init__
(self, init_node, *, reset_position: Optional[List[float]] = None, setup_robots: bool = True)
examples/aloha_real/real_env.py:40
Method
__init__
( self, reset_position: Optional[List[float]] = None, # noqa: UP006,UP007 render_heig
examples/aloha_real/env.py:14
Method
__init__
(self, init_node=True, is_debug=False)
examples/aloha_real/robot_utils.py:20
Method
__init__
(self, side, init_node=True, is_debug=False)
examples/aloha_real/robot_utils.py:113
Method
__init__
(self, filepath, serial_number)
examples/droid/convert_droid_data_to_lerobot.py:188
Method
__init__
(self, recording_folderpath, camera_kwargs={})
examples/droid/convert_droid_data_to_lerobot.py:275
Method
__init__
(self, filepath, read_images=True)
examples/droid/convert_droid_data_to_lerobot.py:370
Method
__iter__
(self)
src/openpi/training/droid_rlds_dataset.py:242
Method
__iter__
(self)
src/openpi/training/data_loader.py:35
Method
__iter__
(self)
src/openpi/training/data_loader.py:49
Method
__iter__
(self)
src/openpi/training/data_loader.py:77
Method
__iter__
(self)
src/openpi/training/data_loader.py:452
Method
__iter__
(self)
src/openpi/training/data_loader.py:515
Method
__iter__
(self)
src/openpi/training/data_loader.py:538
Method
__len__
(self)
src/openpi/training/droid_rlds_dataset.py:245
Method
__len__
(self)
src/openpi/training/data_loader.py:28
Method
__len__
(self)
src/openpi/training/data_loader.py:38
Method
__len__
(self)
src/openpi/training/data_loader.py:61
Method
__len__
(self)
src/openpi/training/data_loader.py:95
Method
__len__
(self)
src/openpi/training/data_loader.py:126
Method
__post_init__
(self)
src/openpi/transforms.py:122
Method
__post_init__
(self)
src/openpi/transforms.py:154
Method
__post_init__
(self)
src/openpi/training/config.py:554
Method
__post_init__
(self)
src/openpi/shared/nnx_utils.py:56
Method
__post_init__
(self)
src/openpi/models/pi0_config.py:37
Function
_check
(expected, actual)
packages/openpi-client/src/openpi_client/msgpack_numpy_test.py:8
Function
_check_dataclass_annotations
(self, typechecker)
src/openpi/shared/array_typing.py:34
Function
_collate_fn
Collate the batch elements into batched numpy arrays.
src/openpi/training/data_loader.py:471
Method
_handler
(self, websocket: _server.ServerConnection)
src/openpi/serving/websocket_policy_server.py:48
Function
_health_check
(connection: _server.ServerConnection, request: _server.Request)
src/openpi/serving/websocket_policy_server.py:86
Method
_init_weights
(self, module)
src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:403
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