Sample action trajectories using the learned shortcut velocity field. We will use Euler integrator. Args: cond: dict wit

simply return action via integration (Euler's method). the initial noise could be specified. when `save_chains` is True, also return

simply return action via integration (Euler's method). the initial noise could be specified. when `save_chains` is True, also return

saves model to disk; no ema

overload. saves model to disk; no ema recorded. TODO: save ema

Create the drift and diffusion functions for the reverse SDE/ODE.

translate duration in seconds to hour, minute, second format.

Parameters ---------- name : string Name of the property to be set in each individual environment. value

Set a property in each sub-environment. Parameters ---------- name : string Name of the property to be set in eac

Anneal min_sampling_denoising_std and fine-tuning denoising steps Current configs do not apply annealing

actions: (n_action_steps,) + action_shape

Send the calls to :obj:`step` to each sub-environment. Parameters ---------- actions : element of :attr:`~VectorEnv.action_sp

Wait for the calls to :obj:`step` in each sub-environment to finish. Parameters ---------- timeout : int or float, optional

Compute TD(λ) estimates for a list of samples. This snippet is taken from agent/finetune/diffusion_baselines/train_awr_diffusion_agent.py

bugfix:

bugfix:

bugfix:

input: batch:, a tuple, containing: {"state": obs[minibatch_idx]}, : dict, samples[minibatch_i

Update the target double critic network.

need to use ensemble_params instead of critic_networks

need to use ensemble_params instead of critic_networks

need to use ensemble_params instead of critic_networks

need to use ensemble_params instead of critic_networks

Converts WXYZ Quaternions to XYZW Quaternions

Converts XYZW Quaternions to WXYZ Quaternions