Functions — github.com/Physical-Intelligence/openpi

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Functions694 in github.com/Physical-Intelligence/openpi

⨍ Functions 694◇ Types & classes 190

Methodsample_actions

Do a full inference forward and compute the action (batch_size x num_steps x num_motors)

src/openpi/models_pytorch/pi0_pytorch.py:377

Methodsample_actions

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

src/openpi/models/pi0_fast.py:236

Methodsample_actions

(self, rng: at.KeyArrayLike, observation: Observation, **kwargs)

src/openpi/models/model.py:283

Functionsave

Save the normalization stats to a directory.

src/openpi/shared/normalize.py:134

Functionsave_assets

(directory: epath.Path)

src/openpi/training/checkpoints.py:71

Functionsave_state

( checkpoint_manager: ocp.CheckpointManager, state: training_utils.TrainState, data_loader: _data_

src/openpi/training/checkpoints.py:65

Methodscaling_value

(self)

src/openpi/models/lora.py:29

Methodset_decoder

(self, decoder)

src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:588

Methodset_decoder

(self, decoder)

src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:407

Methodset_input_embeddings

(self, value)

src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:441

Methodset_input_embeddings

(self, value)

src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:579

Methodset_input_embeddings

(self, value)

src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:702

Methodset_input_embeddings

(self, value)

src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:801

Methodset_input_embeddings

(self, value)

src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:398

Methodset_input_embeddings

(self, value)

src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:709

Functionset_low_pid_gains

(bot)

examples/aloha_real/robot_utils.py:232

Functionset_mesh

Plumbing the mesh deep into the module tree is extremely cumbersome; until the JAX team lands a better API, a custom context manager like this one

src/openpi/training/sharding.py:27

Functionset_openpi_data_home

(tmp_path_factory)

src/openpi/shared/download_test.py:9

Methodset_output_embeddings

(self, new_embeddings)

src/openpi/models_pytorch/transformers_replace/models/gemma/modeling_gemma.py:585

Methodset_output_embeddings

(self, new_embeddings)

src/openpi/models_pytorch/transformers_replace/models/paligemma/modeling_paligemma.py:404

Functionset_standard_pid_gains

(bot)

examples/aloha_real/robot_utils.py:227

Methodsetup

(self)

src/openpi/models/gemma.py:141

Methodsetup

(self)

src/openpi/models/gemma.py:350

Methodsetup

(self)

src/openpi/models/gemma_fast.py:108

Methodsetup

(self)

src/openpi/models/gemma_fast.py:137

Methodsetup

(self)

src/openpi/models/gemma_fast.py:242

Methodsetup

(self)

src/openpi/models/lora.py:43

Methodsetup

(self)

src/openpi/models/lora.py:96

Methodsetup

(self)

src/openpi/models/utils/fsq_tokenizer.py:84

Methodsetup

(self)

src/openpi/models/utils/fsq_tokenizer.py:185

Methodsetup

(self)

src/openpi/models/utils/fsq_tokenizer.py:403

Functionsetup_master_bot

(bot)

examples/aloha_real/robot_utils.py:221

Functionsetup_puppet_bot

(bot)

examples/aloha_real/robot_utils.py:214

Functionsinusoidal_pe_init

(_, shape: tuple[int, int])

src/openpi/models/utils/fsq_tokenizer.py:327

Methodslicer

(x)

packages/openpi-client/src/openpi_client/action_chunk_broker.py:32

Functionstate_map

Apply a function to the leaves of the state that match the filter.

src/openpi/shared/nnx_utils.py:66

Methodstate_proj_func

(state)

src/openpi/models_pytorch/pi0_pytorch.py:249

Methodstep

(carry)

src/openpi/models/pi0_fast.py:273

Functionsync_puppet_to_master

(master_bot_left, master_bot_right, puppet_bot_left, puppet_bot_right)

examples/aloha_real/robot_utils.py:248

Functiontest_absolute_actions

()

src/openpi/transforms_test.py:42

Functiontest_absolute_actions_noop

()

src/openpi/transforms_test.py:52

Functiontest_broker

()

src/openpi/policies/policy_test.py:21

Functiontest_delta_actions

()

src/openpi/transforms_test.py:19

Functiontest_delta_actions_noop

()

src/openpi/transforms_test.py:29

Functiontest_download_fsspec

()

src/openpi/shared/download_test.py:47

Functiontest_download_gs

()

src/openpi/shared/download_test.py:37

Functiontest_download_gs_dir

()

src/openpi/shared/download_test.py:27

Functiontest_download_local

(tmp_path: pathlib.Path)

src/openpi/shared/download_test.py:16

Functiontest_extract_prompt_from_task

()

src/openpi/transforms_test.py:114

Functiontest_fast_tokenizer

()

src/openpi/models/tokenizer_test.py:14

Functiontest_infer

()

src/openpi/policies/policy_test.py:10

Functiontest_lora_einsum_params_shape

()

src/openpi/models/lora_test.py:8

Functiontest_lora_einsum_same_output

()

src/openpi/models/lora_test.py:34

Functiontest_lora_ffn_params_shape

()

src/openpi/models/lora_test.py:53

Functiontest_lora_ffn_same_output

()

src/openpi/models/lora_test.py:77

Functiontest_make_bool_mask

()

src/openpi/transforms_test.py:65

Functiontest_model_restore

()

src/openpi/models/model_test.py:79

Functiontest_multiple_batch_dimensions

()

src/openpi/shared/normalize_test.py:28

Functiontest_normalize_update

()

src/openpi/shared/normalize_test.py:6

Functiontest_pack_unpack

(data)

packages/openpi-client/src/openpi_client/msgpack_numpy_test.py:42

Functiontest_pi0_action_expert_lora

()

src/openpi/models/pi0_test.py:29

Functiontest_pi0_all_lora

()

src/openpi/models/pi0_test.py:40

Functiontest_pi0_fast_lora_model

()

src/openpi/models/model_test.py:57

Functiontest_pi0_fast_model

()

src/openpi/models/model_test.py:42

Functiontest_pi0_full_finetune

()

src/openpi/models/pi0_test.py:14

Functiontest_pi0_gemma_lora

()

src/openpi/models/pi0_test.py:20

Functiontest_pi0_lora_model

()

src/openpi/models/model_test.py:27

Functiontest_pi0_model

()

src/openpi/models/model_test.py:12

Functiontest_repack_transform

()

src/openpi/transforms_test.py:8

Functiontest_resize_with_pad_shapes

()

packages/openpi-client/src/openpi_client/image_tools_test.py:6

Functiontest_resize_with_pad_shapes

()

src/openpi/shared/image_tools_test.py:6

Functiontest_serialize_deserialize

()

src/openpi/shared/normalize_test.py:18

Functiontest_tokenize

()

src/openpi/models/tokenizer_test.py:6

Functiontest_tokenize_no_prompt

()

src/openpi/transforms_test.py:81

Functiontest_tokenize_prompt

()

src/openpi/transforms_test.py:70

Functiontest_torch_data_loader

()

src/openpi/training/data_loader_test.py:10

Functiontest_torch_data_loader_infinite

()

src/openpi/training/data_loader_test.py:26

Functiontest_torch_data_loader_parallel

()

src/openpi/training/data_loader_test.py:37

Functiontest_train

(tmp_path: pathlib.Path, config_name: str)

scripts/train_test.py:15

Functiontest_transform_dict

()

src/openpi/transforms_test.py:88

Functiontest_with_fake_dataset

()

src/openpi/training/data_loader_test.py:50

Functiontest_with_real_dataset

()

src/openpi/training/data_loader_test.py:65

Methodtime_mlp_func

(time_emb)

src/openpi/models_pytorch/pi0_pytorch.py:290

Methodto_tuple

(self)

src/openpi/models_pytorch/transformers_replace/models/siglip/modeling_siglip.py:205

Methodtokenize

Tokenize a prompt and state into a sequence of tokens. Args: prompt: The text prompt to tokenize. state: The state ar

src/openpi/models/tokenizer.py:164

Methodtokenize

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

src/openpi/models/utils/fsq_tokenizer.py:430

Methodtorch_loader

(self)

src/openpi/training/data_loader.py:449

Functiontrain_step

( config: _config.TrainConfig, rng: at.KeyArrayLike, state: training_utils.TrainState, batch:

scripts/train.py:137

Methodtrainable_filter

Get the filter for the trainable parameters.

src/openpi/training/config.py:550

Functiontransform_dict

Transform the structure of a nested dictionary using a set of patterns. The transformation is defined using the `patterns` dictionary. The keys a

src/openpi/transforms.py:350

Functiontypecheck

(t: T)

src/openpi/shared/array_typing.py:52

Functionunpack_array

(obj)

packages/openpi-client/src/openpi_client/msgpack_numpy.py:43

Methodvocab_size

(self)

src/openpi/models/utils/fsq_tokenizer.py:400

Functionwrapper

(*args: P.args, **kwargs: P.kwargs)

src/openpi/shared/nnx_utils.py:40

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