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Functions459 in github.com/ZZongzheng0918/TA-VLA

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)
src/openpi/models/gemma.py:115
Method__call__
(self, xs, positions, attn_mask, kv_cache)
src/openpi/models/gemma.py:156
Method__call__
(self, x)
src/openpi/models/gemma.py:252
Method__call__
(self, xs, kv_cache, positions, attn_mask, decode, deterministic=True)
src/openpi/models/gemma.py:285
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:371
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
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, x: dict)
scripts/compute_norm_stats.py:19
Method__getitem__
(self, index: SupportsIndex)
src/openpi/training/data_loader.py:24
Method__getitem__
(self, index: SupportsIndex)
src/openpi/training/data_loader.py:47
Method__getitem__
(self, index: SupportsIndex)
src/openpi/training/data_loader.py:63
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: int = 8000)
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__
( self, model: _model.BaseModel, *, rng: at.KeyArrayLike | None = None,
src/openpi/policies/policy.py:23
Method__init__
(self, policy: _base_policy.BasePolicy, record_dir: str)
src/openpi/policies/policy.py:66
Method__init__
(self)
src/openpi/training/checkpoints.py:130
Method__init__
(self, dataset: Dataset, transforms: Sequence[_transforms.DataTransformFn])
src/openpi/training/data_loader.py:43
Method__init__
(self, model_config: _model.BaseModelConfig, num_samples: int)
src/openpi/training/data_loader.py:59
Method__init__
(self, data_config: _config.DataConfig, data_loader: TorchDataLoader)
src/openpi/training/data_loader.py:194
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:209
Method__init__
(self)
src/openpi/shared/normalize.py:20
Method__init__
( self, policy: _base_policy.BasePolicy, host: str = "0.0.0.0", port: int = 80
src/openpi/serving/websocket_policy_server.py:17
Method__init__
(self, max_len: int = 48)
src/openpi/models/tokenizer.py:11
Method__init__
(self, max_len: int = 256, fast_tokenizer_path: str = "physical-intelligence/fast")
src/openpi/models/tokenizer.py:40
Method__init__
(self, config: Pi0Config, rngs: nnx.Rngs)
src/openpi/models/pi0.py:150
Method__init__
(self, config: Pi0FASTConfig, rngs: nnx.Rngs)
src/openpi/models/pi0_fast.py:129
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/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__iter__
(self)
src/openpi/training/data_loader.py:38
Method__iter__
(self)
src/openpi/training/data_loader.py:201
Method__iter__
(self)
src/openpi/training/data_loader.py:274
Method__len__
(self)
src/openpi/training/data_loader.py:27
Method__len__
(self)
src/openpi/training/data_loader.py:50
Method__len__
(self)
src/openpi/training/data_loader.py:85
Method__post_init__
(self)
src/openpi/transforms.py:122
Method__post_init__
(self)
src/openpi/transforms.py:152
Method__post_init__
(self)
src/openpi/training/config.py:362
Method__post_init__
(self)
src/openpi/training/config.py:594
Method__post_init__
(self)
src/openpi/shared/nnx_utils.py:56
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:32
Function_collate_fn
Collate the batch elements into batched numpy arrays.
src/openpi/training/data_loader.py:289
Method_handler
(self, websocket: websockets.asyncio.server.ServerConnection)
src/openpi/serving/websocket_policy_server.py:43
Method_load_norm_stats
( self, assets_dir: epath.Path, asset_id: str | list[str] | None )
src/openpi/training/config.py:422
Method_normalize
(self, x, stats: NormStats)
src/openpi/transforms.py:137
Method_normalize_quantile
(self, x, stats: NormStats)
src/openpi/transforms.py:140
Function_random_observation_aloha
()
examples/simple_client/main.py:55
Function_random_observation_droid
()
examples/simple_client/main.py:68
Function_random_observation_libero
()
examples/simple_client/main.py:78
Function_shard_arr
(kp, array: jax.ShapeDtypeStruct)
src/openpi/training/sharding.py:70
Method_unnormalize
(self, x, stats: NormStats)
src/openpi/transforms.py:168
Method_unnormalize_quantile
(self, x, stats: NormStats)
src/openpi/transforms.py:171
Function_worker_init_fn
Tell JAX inside the worker process not to preallocate the GPU memory.
src/openpi/training/data_loader.py:296
Functionactivation_sharding_constraint
(pytree)
src/openpi/training/sharding.py:40
Methodapply_action
(self, action: dict)
examples/aloha_sim/env.py:41
Methodapply_action
(self, action: dict)
examples/aloha_real/env.py:56
Functionarray_tree_to_info
Converts a PyTree of arrays into a human-readable string for logging.
src/openpi/training/utils.py:36
Methodassets_dirs
Get the assets directory for this config.
src/openpi/training/config.py:578
Methodasync_save
(self, directory: epath.Path, args: "CallbackSave")
src/openpi/training/checkpoints.py:140
Functioncheck
(kp, x, y)
src/openpi/shared/array_typing.py:80
Functioncheck_pytree_equality
Checks that two PyTrees have the same structure and optionally checks shapes and dtypes. Creates a much nicer error message than if `jax.tree.map`
src/openpi/shared/array_typing.py:62
Methodcheckpoint_dir
Get the checkpoint directory for this config.
src/openpi/training/config.py:583
Functioncli
()
src/openpi/training/config.py:916
Functioncompose
Compose a sequence of transforms into a single transform.
src/openpi/transforms.py:74
Methodcompute_loss
( self, rng: at.KeyArrayLike, observation: _model.Observation, actions: _model.Actions, *, train: bool
src/openpi/models/pi0_fast.py:192
Methodcompute_loss
( self, rng: at.KeyArrayLike, observation: Observation, actions: Actions,
src/openpi/models/model.py:280
Methodcond
(carry)
src/openpi/models/pi0.py:427
Methodcond
(carry)
src/openpi/models/pi0_fast.py:296
Functionconvert_to_uint8
Converts an image to uint8 if it is a float image. This is important for reducing the size of the image when sending it over the network.
packages/openpi-client/src/openpi_client/image_tools.py:5
Methodcreate
Create a data config.
src/openpi/training/config.py:163
Methodcreate
(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig)
src/openpi/training/config.py:194
Methodcreate
(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig)
src/openpi/training/config.py:206
Methodcreate
(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig)
src/openpi/training/config.py:245
Methodcreate
(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig)
src/openpi/training/config.py:277
Methodcreate
(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig)
src/openpi/training/config.py:390
Methodcreate
(self)
src/openpi/training/optimizer.py:12
Methodcreate
(self)
src/openpi/training/optimizer.py:24
Methodcreate
(self)
src/openpi/training/optimizer.py:42
Methodcreate
( self, lr: optax.ScalarOrSchedule, weight_decay_mask: at.PyTree | None = None, )
src/openpi/training/optimizer.py:58
Methodcreate
( self, lr: optax.ScalarOrSchedule, weight_decay_mask: at.PyTree | None = None, )
src/openpi/training/optimizer.py:75
Methodcreate
Create a new model, initializing parameters.
src/openpi/models/model.py:243
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