Functions — github.com/anthonysimeonov/rpdiff

hub / github.com/anthonysimeonov/rpdiff / functions

Functions592 in github.com/anthonysimeonov/rpdiff

⨍ Functions 592◇ Types & classes 76

Method__init__

(self, n_pts: int, pn_pts: int=None, cn_pts: int=None, sigmoid: bool=True, fixed_scaling: fl

src/rpdiff/model/policy_feat_encoder.py:188

Method__init__

(self, in_channels, out_channels, pooling=True)

src/rpdiff/model/encoder/unet.py:53

Method__init__

(self, in_channels, out_channels, merge_mode='concat', up_mode='transpose')

src/rpdiff/model/encoder/unet.py:80

Method__init__

(self, size_in, size_out=None, size_h=None)

src/rpdiff/model/encoder/layers.py:15

Method__init__

(self, in_channels, out_channels, kernel_size=3, order='crg', num_groups=8, padding=1)

src/rpdiff/model/encoder/unet3d.py:96

Method__init__

(self, in_channels, out_channels, encoder, kernel_size=3, order='crg', num_groups=8)

src/rpdiff/model/encoder/unet3d.py:125

Method__init__

(self, in_channels, out_channels, kernel_size=3, order='cge', num_groups=8, **kwargs)

src/rpdiff/model/encoder/unet3d.py:158

Method__init__

(self, in_channels, out_channels, conv_kernel_size=3, apply_pooling=True, pool_kernel_size=(2

src/rpdiff/model/encoder/unet3d.py:215

Method__init__

(self, in_channels, out_channels, kernel_size=3, scale_factor=(2, 2, 2), basic_module=DoubleConv,

src/rpdiff/model/encoder/unet3d.py:258

Method__init__

(self, transposed_conv, in_channels=None, out_channels=None, kernel_size=3, scale_factor=(2,

src/rpdiff/model/encoder/unet3d.py:312

Method__init__

(self, in_channels, out_channels, kernel_size=3, order='crg', num_groups=8)

src/rpdiff/model/encoder/unet3d.py:351

Method__init__

(self, in_channels, out_channels, final_sigmoid, basic_module, f_maps=64, layer_order='gcr',

src/rpdiff/model/encoder/unet3d.py:393

Method__init__

(self, in_channels, out_channels, final_sigmoid=True, f_maps=64, layer_order='gcr', num_group

src/rpdiff/model/encoder/unet3d.py:502

Method__init__

(self, basis_function='sin_cos')

src/rpdiff/model/encoder/common.py:360

Method__init__

Args: feat_dim (int): Dimensionality of the input features (typically 3D for point clouds, or 5D for point clouds A and B - with

src/rpdiff/model/transformer/policy.py:17

Method__init__

Args: feat_dim (int): Dimensionality of the input features (typically 3D for point clouds, or 5D for point clouds A and B - with

src/rpdiff/model/transformer/policy.py:207

Method__init__

(self, encoder_layer, num_layers, norm=None)

src/rpdiff/model/transformer/transformer.py:64

Method__init__

(self, decoder_layer, num_layers, norm=None, return_intermediate=False)

src/rpdiff/model/transformer/transformer.py:88

Method__init__

(self, d_model, nhead, dim_feedforward=2048, dropout=0.1, activation="relu", normalize_before

src/rpdiff/model/transformer/transformer.py:129

Method__init__

(self, d_model, nhead, dim_feedforward=2048, dropout=0.1, activation="relu", normalize_before

src/rpdiff/model/transformer/transformer.py:189

Method__init__

(self, encoder, decoder, src_embed, tgt_embed, generator)

src/rpdiff/model/transformer/nsm_transformer.py:19

Method__init__

(self, layer, N)

src/rpdiff/model/transformer/nsm_transformer.py:48

Method__init__

(self, layer, N, return_intermediate=False)

src/rpdiff/model/transformer/nsm_transformer.py:59

Method__init__

(self, features, eps=1e-6)

src/rpdiff/model/transformer/nsm_transformer.py:88

Method__init__

(self, size)

src/rpdiff/model/transformer/nsm_transformer.py:100

Method__init__

(self, size, self_attn, feed_forward)

src/rpdiff/model/transformer/nsm_transformer.py:108

Method__init__

(self, size, self_attn, src_attn, feed_forward)

src/rpdiff/model/transformer/nsm_transformer.py:121

Method__init__

(self, size, self_attn, src_attn, feed_forward)

src/rpdiff/model/transformer/nsm_transformer.py:137

Method__init__

(self, h, d_model)

src/rpdiff/model/transformer/nsm_transformer.py:158

Method__init__

(self, d_model, d_ff)

src/rpdiff/model/transformer/nsm_transformer.py:186

Method__init__

(self, cfg)

src/rpdiff/model/transformer/nsm_transformer.py:197

Method__init__

(self, cfg)

src/rpdiff/model/transformer/nsm_transformer.py:227

Method__init__

(self, pos_weight, bs)

src/rpdiff/training/losses.py:9

Method__init__

(self, l1=False, trans_offset=False, kl_div=False)

src/rpdiff/training/losses.py:180

Method__init__

(self, l1=False, trans_offset=False, kl_div=False)

src/rpdiff/training/losses.py:253

Method__init__

(self, dataset_path: str, data_args: AttrDict, phase: str='train', train_coarse_aff: bool=Tr

src/rpdiff/training/dataio_full_chunked.py:39

Method__init__

Constructor, sets up base class and additional camera setup configuration parameters. Args: cam_cfg (rpdiff.util

src/rpdiff/robot/multicam.py:9

Method__init__

(self, pb_client: BulletClient, urdf_file: str=None, ini

src/rpdiff/robot/floating_sphere_gripper.py:20

Method__init__

(self, urdf_file, pb_client, init_pos=[0.0, 0.0, 0.0])

src/rpdiff/robot/floating_sphere_gripper.py:111

Method__len__

(self)

src/rpdiff/training/dataio_full_chunked.py:342

Function_axis_angle_rotation

Return the rotation matrices for one of the rotations about an axis of which Euler angles describe, for each value of the angle given. A

src/rpdiff/utils/torch3d_util.py:157

Method_build_output_heads

Creates the output 2-layer MLPs used for predicting translation and rotation Args: pooled_dim (int): Input dimen

src/rpdiff/model/policy_feat_encoder.py:193

Method_correct_ik

(self, next_joints)

src/rpdiff/robot/floating_sphere_gripper.py:564

Method_get_ee_pose_joints

(self)

src/rpdiff/robot/floating_sphere_gripper.py:106

Method_init_weights

(self, m)

src/rpdiff/model/policy_feat_encoder.py:53

Method_interpolate

(x, size, mode)

src/rpdiff/model/encoder/unet3d.py:329

Method_joining

(encoder_features, x, concat)

src/rpdiff/model/encoder/unet3d.py:289

Method_setup_debug

(self)

src/rpdiff/training/dataio_full_chunked.py:211

Functionadd_key

Add new keys to the given input Args: base (tensor): inputs new (tensor): new info for the inputs base_name (str): name

src/rpdiff/model/encoder/common.py:314

Methodadd_new_pcd

(self, pcd)

src/rpdiff/utils/point_cloud_fusion.py:287

Functionangle_from_3d_vectors

(u: np.ndarray, v: np.ndarray)

src/rpdiff/utils/util.py:170

Functionb_inv

Performs batch matrix inversion. Arguments: b_mat: the batch of matrices that should be inverted

src/rpdiff/model/encoder/common.py:120

Functionbatch_sparse_collate

r"""The wrapper function that can be used in in conjunction with `torch.utils.data.DataLoader` to generate inputs for a sparse tensor. Please

src/rpdiff/utils/batch_pcd_util.py:174

Functionbatched_coordinates

r"""Create a `ME.SparseTensor` coordinates from a sequence of coordinates Given a list of either numpy or pytorch tensor coordinates, return the

src/rpdiff/utils/batch_pcd_util.py:13

Functionbuild_transformer

(args)

src/rpdiff/model/transformer/transformer.py:276

Functioncamera_cfgs

Returns a set of camera config parameters Returns: YACS CfgNode: Cam config params

src/rpdiff/utils/pcd_aug_util.py:38

Functioncenter_pcd

Args: pcd (torch.Tensor): Point cloud to center, either N x 3 or B x N x 3 ref_pcd (torch.Tensor): Point cloud whose mean should

src/rpdiff/utils/torch_util.py:65

Functioncenter_pcd

Args: pcd (np.ndarray): Point cloud to center, either N x 3 or B x N x 3 ref_pcd (np.ndarray): Point cloud whose mean should be u

src/rpdiff/utils/util.py:573

Functionchamfer_distance

Returns the chamfer distance for the sets of points. Args: points1 (numpy array): first point set points2 (numpy array): second

src/rpdiff/model/encoder/common.py:39

Functioncheck_enough_points

(pcd: np.ndarray, n_pts: int)

src/rpdiff/training/train_util.py:82

Functioncn2dict

Convert a YACS CfgNode config object into a dictionary Args: config (CfgNode): Config object Returns: dict: Diction

src/rpdiff/utils/util.py:100

Functioncompute_iou

Computes the Intersection over Union (IoU) value for two sets of occupancy values. Args: occ1 (tensor): first set of occupancy value

src/rpdiff/model/encoder/common.py:8

Functioncompute_normal_map

(x_img, y_img, z, intrinsics)

src/rpdiff/utils/geometry.py:8

Functionconstraint_grasp_open

(cid: int=None)

src/rpdiff/utils/eval_gen_utils.py:19

Methodcont2pix

(cont_coord, img_size)

src/rpdiff/utils/seg_aug_util.py:31

Functionconvert_reference_frame

( pose_source: PoseStamped, pose_frame_target: PoseStamped, pose_frame_source: PoseS

src/rpdiff/utils/util.py:203

Functioncoord2index

Normalize coordinate to [0, 1] for sliding-window experiments. Corresponds to our 3D model Args: p (tensor): points vol_

src/rpdiff/model/encoder/common.py:248

Functioncoordinate2index

Normalize coordinate to [0, 1] for unit cube experiments. Corresponds to our 3D model Args: x (tensor): coordinate reso

src/rpdiff/utils/mesh_util/three_util.py:73

Functioncoordinate2index_np

Normalize coordinate to [0, 1] for unit cube experiments. Corresponds to our 3D model Args: x (tensor): coordinate reso

src/rpdiff/utils/mesh_util/three_util.py:110

Functioncopy_attr_dict

(in_dict: dict)

src/rpdiff/utils/config_util.py:90

Functioncrop_pcd

( raw_pts: np.ndarray, x: List[float]=[0.0, 0.7], y: List[float]=[-0.4, 0.4],

src/rpdiff/utils/util.py:122

Functiondecide_total_volume_range

Update the defined resolution so that UNet can process. Args: query_vol_metric (numpy array): query volume size recep_field (int

src/rpdiff/model/encoder/common.py:290

Functiondepth_from_world

(world_coords, cam2world)

src/rpdiff/utils/geometry.py:144

Functiondetach_dict

(in_dict: dict)

src/rpdiff/utils/relational_policy/multistep_pose_regression.py:30

Functiondownsample_pcd_perm

Downsample a 3D point cloud by uniformly sampling point indices Args: pcd (np.ndarray): Nx3 n_pts (int): Number of points t

src/rpdiff/utils/util.py:647

Methoddrive_hand_joints

(self, pos, ori, *args, **kwargs)

src/rpdiff/robot/floating_sphere_gripper.py:103

Functionenergy_optimization

Optimize the transformation with respect to a learned energy function, run a few times and pick the one with the best overall cost

src/rpdiff/utils/relational_policy/inference_methods.py:101

Functionexists_and_true

(d: dict, st: str)

src/rpdiff/utils/util.py:49

Functionexpmap2quat

:param r: Axis-angle, Nx3 :return: q: quaternion, Nx4

src/rpdiff/utils/torch_util.py:160

Functionexpmap2rotmat

:param r: Axis-angle, Nx3 :return: Rotation matrix, Nx3x3

src/rpdiff/utils/torch_util.py:112

Functionfix_Rt_camera

Fixes Rt camera matrix. Args: Rt (tensor): Rt camera matrix loc (tensor): location scale (float): scale

src/rpdiff/model/encoder/common.py:143

Functionform_tf_mat_cent_pcd_rot

Create 4x4 homogenous transformation matrix that rotates a point cloud in place and then translates the rotated shape. This occurs by mean-ce

src/rpdiff/utils/util.py:625

Methodforward

(self, x)

src/rpdiff/utils/torch_util.py:31

Methodforward

input: B N 3 --------------------------- output: B G M 3 center : B G 3

src/rpdiff/utils/torch_scatter_utils.py:123

Methodforward

(self, p)

src/rpdiff/model/scene_encoder.py:162

Methodforward

(self, x)

src/rpdiff/model/coarse_affordance.py:152

Methodforward

(self, x)

src/rpdiff/model/encoder/unet.py:66

Methodforward

Forward pass Arguments: from_down: tensor from the encoder pathway from_up: upconv'd tensor from the decoder pathway

src/rpdiff/model/encoder/unet.py:101

Methodforward

(self, x)

src/rpdiff/model/encoder/unet.py:225

Methodforward

(self, x)

src/rpdiff/model/encoder/layers.py:39

Methodforward

(self, x)

src/rpdiff/model/encoder/unet3d.py:180

Methodforward

(self, x)

src/rpdiff/model/encoder/unet3d.py:234

Methodforward

(self, encoder_features, x)

src/rpdiff/model/encoder/unet3d.py:282

Methodforward

(self, encoder_features, x)

src/rpdiff/model/encoder/unet3d.py:324

Methodforward

(self, x)

src/rpdiff/model/encoder/unet3d.py:449

Methodforward

(self, model_input: dict, *args, **kwargs)

src/rpdiff/model/transformer/policy.py:133

Methodforward

(self, model_input: dict, *args, **kwargs)

src/rpdiff/model/transformer/policy.py:503

Methodforward

(self, src, mask, query_embed, pos_embed)

src/rpdiff/model/transformer/transformer.py:47

Methodforward

(self, src, mask: Optional[Tensor] = None, src_key_padding_mask: Optional[Tens

src/rpdiff/model/transformer/transformer.py:70

Methodforward

(self, tgt, memory, tgt_mask: Optional[Tensor] = None, memory_mask: Optional[T

src/rpdiff/model/transformer/transformer.py:95

← previous next →301–400 of 592, ranked by callers