Functionget_frustum Get the frustum of the camera. Args: K: [..., 4] or [..., 3, 3] uv_range: [H, W] or [[H_min, H_max], [W_min, W_max]]
utils/geometry_utils.py:446
Functionmake_convergence_animation(
env_id,
plan_history,
trajectory,
start,
goal,
open_loop_horizon,
namespace,
utils/logging_utils.py:667
Functionmake_mpc_animation(
env_id,
plan_history,
trajectory,
start,
goal,
open_loop_horizon,
namespace,
utils/logging_utils.py:757
Functionnormalized_guidance(
pred_cond: torch.Tensor, # [B, C, H, W]
pred_uncond: torch.Tensor, # [B, C, H, W]
guidance_scale
utils/guidance_utils.py:23