Convenience method for initializing all parameters, necessary due to the quirks of linen.

Update the running statistics with a batch of vectors. Args: vectors (np.ndarray): A 2D array where each row is a new ve

Returns the freeze filter based on the model config.

Flatten a nested dictionary. Uses '/' as the separator.

Loads the model weights. Args: params: Parameters of the model. This is a nested structure of array-like objects that

Create a model with the given parameters.

Append transforms to the group and return a new group. Args: inputs: Appended to the *end* of the current input transforms.

Get the mtime of a given date at midnight UTC.

Used to convert between aloha and pi joint angles.

Set folder permission to be read, write and searchable.

chmod requires executable permission to be set, so we skip if the permission is already match with the target.

Compute and return the statistics of the vectors processed so far. Returns: dict: A dictionary containing the computed s

Adapted from big_vision. Tokens can attend to valid inputs tokens which have a cumulative mask_ar smaller or equal to theirs. This way `mask_

Reset the agent to its initial state.

Applies RoPE positions [B, L] to x [B, L, H, D].

Applies RoPE positions [B, L] to x [B, L, H, D].

Download a file from the OpenPI S3 bucket using boto3. This is a more performant version of download but can only handle s3 urls. In openpi repo,

Since we are sharing cache directory with containerized runtime as well as training script, we need to ensure that the cache directory has the cor

Merges the loaded parameters with the reference parameters. Args: loaded_params: The parameters to merge. params: The reference p

Get the data config for this data loader.

This method defines the mapping between unstructured data (i.e., nested dict) to the structured Observation format.

Returns the input specification for the model. Values are jax.ShapeDtypeStruct.

Adapted from big_vision. Tokens can attend to valid inputs tokens which have a cumulative mask_ar smaller or equal to theirs. This way `mask_

Runs the runtime loop continuously until stop() is called or the environment is done.

Unflatten a flattened dictionary. Assumes that '/' was used as a separator.

Adjust histograms when min or max changes.

Compute quantiles based on histograms.

Download a file from a remote filesystem to the local cache, and return the local path.

Initializes and returns the LIBERO environment, along with the task description.

Initialize KV cache

Check if the url is an OpenPI S3 bucket url.

Loads and validates the weights. Returns a loaded subset of the weights.

Copied from robosuite: https://github.com/ARISE-Initiative/robosuite/blob/eafb81f54ffc104f905ee48a16bb15f059176ad3/robosuite/utils/transform_util

Set to position mode and do position resets: first open then close. Then change back to PWM mode

Replicates tf.image.resize_with_pad for one image using PIL. Resizes an image to a target height and width without distortion by padding with zero

Runs a single episode.

Set all files to be read & writable, if it is a script, keep it as a script.