Index

A

action_dimension (robomimic.envs.env_base.EnvBase property) (robomimic.envs.env_robosuite.EnvRobosuite property) ActionValueNetwork (class in robomimic.models.value_nets) ActorNetwork (class in robomimic.models.policy_nets) add_keys() (robomimic.utils.obs_utils.Modality class method) add_param() (robomimic.utils.hyperparam_utils.ConfigGenerator method) Algo (class in robomimic.algo.algo) algo_config() (robomimic.config.base_config.BaseConfig method) (robomimic.config.bc_config.BCConfig method) (robomimic.config.bcq_config.BCQConfig method) (robomimic.config.cql_config.CQLConfig method) (robomimic.config.gl_config.GLConfig method) (robomimic.config.hbc_config.HBCConfig method) (robomimic.config.iql_config.IQLConfig method) (robomimic.config.iris_config.IRISConfig method) (robomimic.config.td3_bc_config.TD3_BCConfig method) algo_factory() (in module robomimic.algo.algo)

ALGO_NAME (robomimic.config.base_config.BaseConfig property) (robomimic.config.bc_config.BCConfig attribute) (robomimic.config.bcq_config.BCQConfig attribute) (robomimic.config.cql_config.CQLConfig attribute) (robomimic.config.gl_config.GLConfig attribute) (robomimic.config.hbc_config.HBCConfig attribute) (robomimic.config.iql_config.IQLConfig attribute) (robomimic.config.iris_config.IRISConfig attribute) (robomimic.config.td3_bc_config.TD3_BCConfig attribute) algo_name_from_checkpoint() (in module robomimic.utils.file_utils) algo_name_to_factory_func() (in module robomimic.algo.algo) all_obs_keys (robomimic.config.base_config.BaseConfig property) (robomimic.config.gl_config.GLConfig property) (robomimic.config.hbc_config.HBCConfig property) (robomimic.config.iris_config.IRISConfig property) assert_size_at_dim() (in module robomimic.utils.tensor_utils) assert_size_at_dim_single() (in module robomimic.utils.tensor_utils)

B

backprop_for_loss() (in module robomimic.utils.torch_utils) base_env (robomimic.envs.env_base.EnvBase property) (robomimic.envs.env_robosuite.EnvRobosuite property) BaseConfig (class in robomimic.config.base_config) batch_image_chw_to_hwc() (in module robomimic.utils.obs_utils) batch_image_hwc_to_chw() (in module robomimic.utils.obs_utils) BC (class in robomimic.algo.bc) BC_Gaussian (class in robomimic.algo.bc) BC_GMM (class in robomimic.algo.bc) BC_RNN (class in robomimic.algo.bc)

BC_RNN_GMM (class in robomimic.algo.bc) BC_Transformer (class in robomimic.algo.bc) BC_Transformer_GMM (class in robomimic.algo.bc) BC_VAE (class in robomimic.algo.bc) BCConfig (class in robomimic.config.bc_config) BCQ (class in robomimic.algo.bcq) BCQ_Distributional (class in robomimic.algo.bcq) BCQ_GMM (class in robomimic.algo.bcq) BCQConfig (class in robomimic.config.bcq_config) bias (robomimic.models.base_nets.CoordConv2d attribute)

C

cache_obs_history() (robomimic.envs.wrappers.FrameStackWrapper method) CategoricalPrior (class in robomimic.models.vae_nets) CausalSelfAttention (class in robomimic.models.transformers) center_crop() (in module robomimic.utils.obs_utils) check_env_type() (in module robomimic.utils.env_utils) check_env_version() (in module robomimic.utils.env_utils) checkpoint_path_from_test_run() (in module robomimic.utils.test_utils) class_name() (robomimic.envs.wrappers.EnvWrapper class method) clear_weight() (robomimic.models.base_nets.FeatureAggregator method) clone() (in module robomimic.utils.tensor_utils) close() (robomimic.utils.log_utils.DataLogger method) close_and_delete_hdf5_handle() (robomimic.utils.dataset.SequenceDataset method) ColorRandomizer (class in robomimic.models.obs_core) Config (class in robomimic.config.config) config_factory() (in module robomimic.config.base_config) config_from_checkpoint() (in module robomimic.utils.file_utils) config_from_modifier() (in module robomimic.utils.test_utils) ConfigGenerator (class in robomimic.utils.hyperparam_utils) ConfigMeta (class in robomimic.config.base_config)

contiguous() (in module robomimic.utils.tensor_utils) Conv1dBase (class in robomimic.models.base_nets) ConvBase (class in robomimic.models.base_nets) CoordConv2d (class in robomimic.models.base_nets) copy() (robomimic.config.config.Config method) cosine_loss() (in module robomimic.utils.loss_utils) CQL (class in robomimic.algo.cql) CQLConfig (class in robomimic.config.cql_config) create_env() (in module robomimic.utils.env_utils) create_env_for_data_processing() (in module robomimic.utils.env_utils) create_env_from_metadata() (in module robomimic.utils.env_utils) create_for_data_processing() (robomimic.envs.env_base.EnvBase class method) (robomimic.envs.env_robosuite.EnvRobosuite class method) create_hdf5_filter_key() (in module robomimic.utils.file_utils) crop_image_from_indices() (in module robomimic.utils.obs_utils) CropRandomizer (class in robomimic.models.obs_core) current_subgoal (robomimic.algo.algo.HierarchicalAlgo property) (robomimic.algo.hbc.HBC property) custom_tqdm (class in robomimic.utils.log_utils)

D

DataLogger (class in robomimic.utils.log_utils) dataset_factory() (in module robomimic.utils.train_utils) decode() (robomimic.models.policy_nets.VAEActor method) (robomimic.models.vae_nets.VAE method) deepcopy() (robomimic.config.config.Config method) depth_to_rgb() (in module robomimic.utils.vis_utils) DepthModality (class in robomimic.utils.obs_utils) deserialize() (robomimic.algo.algo.Algo method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method)

detach() (in module robomimic.utils.tensor_utils) dilation (robomimic.models.base_nets.CoordConv2d attribute) DiscreteValueDistribution (class in robomimic.models.distributions) DistributionalActionValueNetwork (class in robomimic.models.value_nets) do_not_lock_keys() (robomimic.config.config.Config method) download_url() (in module robomimic.utils.file_utils) DownloadProgressBar (class in robomimic.utils.file_utils) dummy_context_mgr (class in robomimic.utils.torch_utils) dump() (robomimic.config.config.Config method)

E

embed_timesteps() (robomimic.models.obs_nets.MIMO_Transformer method) encode() (robomimic.models.policy_nets.VAEActor method) (robomimic.models.vae_nets.VAE method) EncoderCore (class in robomimic.models.obs_core) env_from_checkpoint() (in module robomimic.utils.file_utils) EnvBase (class in robomimic.envs.env_base) EnvRobosuite (class in robomimic.envs.env_robosuite) EnvType (class in robomimic.envs.env_base)

EnvWrapper (class in robomimic.envs.wrappers) example_dataset_path() (in module robomimic.utils.test_utils) example_momart_dataset_path() (in module robomimic.utils.test_utils) expand_at() (in module robomimic.utils.tensor_utils) expand_at_single() (in module robomimic.utils.tensor_utils) experiment_config() (robomimic.config.base_config.BaseConfig method) (robomimic.config.td3_bc_config.TD3_BCConfig method) extract_class_init_kwargs_from_dict() (in module robomimic.utils.python_utils) extract_subset_dict() (in module robomimic.utils.python_utils)

F

FeatureAggregator (class in robomimic.models.base_nets) flatten() (in module robomimic.utils.tensor_utils) flatten_nested_dict_list() (in module robomimic.utils.tensor_utils) flatten_single() (in module robomimic.utils.tensor_utils) flush() (robomimic.utils.log_utils.PrintLogger method) flush_warnings() (in module robomimic.utils.log_utils) forward() (robomimic.models.base_nets.Conv1dBase method) (robomimic.models.base_nets.ConvBase method) (robomimic.models.base_nets.CoordConv2d method) (robomimic.models.base_nets.FeatureAggregator method) (robomimic.models.base_nets.MLP method) (robomimic.models.base_nets.MVPConv method) (robomimic.models.base_nets.Parameter method) (robomimic.models.base_nets.RNN_Base method) (robomimic.models.base_nets.SpatialMeanPool method) (robomimic.models.base_nets.SpatialSoftmax method) (robomimic.models.base_nets.Squeeze method) (robomimic.models.base_nets.Unsqueeze method) (robomimic.models.obs_core.ScanCore method) (robomimic.models.obs_core.VisualCore method) (robomimic.models.obs_nets.MIMO_MLP method) (robomimic.models.obs_nets.MIMO_Transformer method) (robomimic.models.obs_nets.ObservationDecoder method) (robomimic.models.obs_nets.ObservationEncoder method) (robomimic.models.obs_nets.ObservationGroupEncoder method) (robomimic.models.obs_nets.RNN_MIMO_MLP method) (robomimic.models.policy_nets.ActorNetwork method) (robomimic.models.policy_nets.GaussianActorNetwork method) (robomimic.models.policy_nets.GMMActorNetwork method) (robomimic.models.policy_nets.PerturbationActorNetwork method) (robomimic.models.policy_nets.RNNActorNetwork method) (robomimic.models.policy_nets.RNNGMMActorNetwork method) (robomimic.models.policy_nets.TransformerActorNetwork method) (robomimic.models.policy_nets.TransformerGMMActorNetwork method) (robomimic.models.policy_nets.VAEActor method) (robomimic.models.transformers.CausalSelfAttention method) (robomimic.models.transformers.GEGLU method) (robomimic.models.transformers.GPT_Backbone method) (robomimic.models.transformers.PositionalEncoding method) (robomimic.models.transformers.SelfAttentionBlock method) (robomimic.models.vae_nets.CategoricalPrior method) (robomimic.models.vae_nets.GaussianPrior method) (robomimic.models.vae_nets.Prior method) (robomimic.models.vae_nets.VAE method) (robomimic.models.value_nets.ActionValueNetwork method) (robomimic.models.value_nets.DistributionalActionValueNetwork method) (robomimic.models.value_nets.ValueNetwork method)

forward_in() (robomimic.models.obs_core.Randomizer method) forward_out() (robomimic.models.obs_core.Randomizer method) forward_step() (robomimic.models.base_nets.RNN_Base method) (robomimic.models.obs_nets.RNN_MIMO_MLP method) (robomimic.models.policy_nets.RNNActorNetwork method) (robomimic.models.policy_nets.RNNGMMActorNetwork method) forward_train() (robomimic.models.policy_nets.GaussianActorNetwork method) (robomimic.models.policy_nets.GMMActorNetwork method) (robomimic.models.policy_nets.RNNGMMActorNetwork method) (robomimic.models.policy_nets.TransformerGMMActorNetwork method) (robomimic.models.policy_nets.VAEActor method) (robomimic.models.value_nets.DistributionalActionValueNetwork method) forward_train_step() (robomimic.models.policy_nets.RNNGMMActorNetwork method) FrameStackWrapper (class in robomimic.envs.wrappers) freeze() (robomimic.models.base_nets.Sequential method)

G

gather_along_dim_with_dim() (in module robomimic.utils.tensor_utils) gather_along_dim_with_dim_single() (in module robomimic.utils.tensor_utils) gather_sequence() (in module robomimic.utils.tensor_utils) gather_sequence_single() (in module robomimic.utils.tensor_utils) GaussianActorNetwork (class in robomimic.models.policy_nets) GaussianNoiseRandomizer (class in robomimic.models.obs_core) GaussianPrior (class in robomimic.models.vae_nets) GEGLU (class in robomimic.models.transformers) geglu() (robomimic.models.transformers.GEGLU method) generate() (robomimic.utils.hyperparam_utils.ConfigGenerator method) get_action() (robomimic.algo.algo.HierarchicalAlgo method) (robomimic.algo.algo.PolicyAlgo method) (robomimic.algo.bc.BC method) (robomimic.algo.bc.BC_RNN method) (robomimic.algo.bc.BC_Transformer method) (robomimic.algo.bcq.BCQ method) (robomimic.algo.cql.CQL method) (robomimic.algo.gl.GL method) (robomimic.algo.hbc.HBC method) (robomimic.algo.iql.IQL method) (robomimic.algo.td3_bc.TD3_BC method) get_actor_goal_for_training_from_processed_batch() (robomimic.algo.gl.GL method) (robomimic.algo.gl.GL_VAE method) get_all_registered_configs() (in module robomimic.config.base_config) get_base_config() (in module robomimic.utils.test_utils) get_batch_transform() (robomimic.models.obs_core.ColorRandomizer method) get_camera_extrinsic_matrix() (robomimic.envs.env_robosuite.EnvRobosuite method) get_camera_intrinsic_matrix() (robomimic.envs.env_robosuite.EnvRobosuite method) get_camera_transform_matrix() (robomimic.envs.env_robosuite.EnvRobosuite method) get_class_init_kwargs() (in module robomimic.utils.python_utils) get_dataset_for_ep() (robomimic.utils.dataset.SequenceDataset method) get_dataset_sampler() (robomimic.utils.dataset.SequenceDataset method) get_dataset_sequence_from_demo() (robomimic.utils.dataset.SequenceDataset method) get_demos_for_filter_key() (in module robomimic.utils.file_utils) get_env_class() (in module robomimic.utils.env_utils) get_env_metadata_from_dataset() (in module robomimic.utils.file_utils) get_env_type() (in module robomimic.utils.env_utils) get_exp_dir() (in module robomimic.utils.train_utils) get_goal() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) get_gumbel_temperature() (robomimic.models.policy_nets.VAEActor method) (robomimic.models.vae_nets.VAE method) get_item() (robomimic.utils.dataset.SequenceDataset method)

get_obs_normalization_stats() (robomimic.utils.dataset.SequenceDataset method) get_obs_sequence_from_demo() (robomimic.utils.dataset.SequenceDataset method) get_observation() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) get_processed_shape() (in module robomimic.utils.obs_utils) get_real_depth_map() (robomimic.envs.env_robosuite.EnvRobosuite method) get_reward() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) get_rnn_init_state() (robomimic.models.base_nets.RNN_Base method) (robomimic.models.obs_nets.RNN_MIMO_MLP method) get_sequence_from_demo() (robomimic.utils.dataset.SequenceDataset method) get_shape() (in module robomimic.utils.tensor_utils) get_shape_metadata_from_dataset() (in module robomimic.utils.file_utils) get_state() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) get_state_action_value() (robomimic.algo.algo.ValueAlgo method) (robomimic.algo.bcq.BCQ method) (robomimic.algo.cql.CQL method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.iris.IRIS method) (robomimic.algo.td3_bc.TD3_BC method) get_state_value() (robomimic.algo.algo.ValueAlgo method) (robomimic.algo.bcq.BCQ method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.iris.IRIS method) (robomimic.algo.td3_bc.TD3_BC method) get_stats() (robomimic.utils.log_utils.DataLogger method) get_subgoal_predictions() (robomimic.algo.algo.HierarchicalAlgo method) (robomimic.algo.algo.PlannerAlgo method) (robomimic.algo.gl.GL method) (robomimic.algo.gl.GL_VAE method) (robomimic.algo.gl.ValuePlanner method) get_torch_device() (in module robomimic.utils.torch_utils) get_trajectory_at_index() (robomimic.utils.dataset.SequenceDataset method) get_transform() (robomimic.models.obs_core.ColorRandomizer method) get_value_for_key() (in module robomimic.utils.hyperparam_utils) GL (class in robomimic.algo.gl) GL_VAE (class in robomimic.algo.gl) GLConfig (class in robomimic.config.gl_config) GMMActorNetwork (class in robomimic.models.policy_nets) GPT_Backbone (class in robomimic.models.transformers) groups (robomimic.models.base_nets.CoordConv2d attribute) GYM_TYPE (robomimic.envs.env_base.EnvType attribute)

H

hard_update() (in module robomimic.utils.torch_utils) has_modality() (in module robomimic.utils.obs_utils) HBC (class in robomimic.algo.hbc)

HBCConfig (class in robomimic.config.hbc_config) hdf5_file (robomimic.utils.dataset.SequenceDataset property) hdf5_file_opened() (robomimic.utils.dataset.SequenceDataset method) HierarchicalAlgo (class in robomimic.algo.algo)

I

IG_MOMART_TYPE (robomimic.envs.env_base.EnvType attribute) image_tensor_to_disk() (in module robomimic.utils.vis_utils) image_tensor_to_numpy() (in module robomimic.utils.vis_utils) image_to_disk() (in module robomimic.utils.vis_utils) ImageModality (class in robomimic.utils.obs_utils) index_at_time() (in module robomimic.utils.tensor_utils) initialize_default_obs_encoder() (in module robomimic.utils.obs_utils) initialize_obs_modality_mapping_from_dict() (in module robomimic.utils.obs_utils) initialize_obs_utils_with_config() (in module robomimic.utils.obs_utils) initialize_obs_utils_with_obs_specs() (in module robomimic.utils.obs_utils) input_embedding() (robomimic.models.obs_nets.MIMO_Transformer method)

IQL (class in robomimic.algo.iql) IQLConfig (class in robomimic.config.iql_config) IRIS (class in robomimic.algo.iris) IRISConfig (class in robomimic.config.iris_config) is_done() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) is_every_n_steps() (in module robomimic.utils.train_utils) is_key_locked (robomimic.config.config.Config property) is_locked (robomimic.config.config.Config property) is_robosuite_env() (in module robomimic.utils.env_utils) is_success() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method)

J

join_dimensions() (in module robomimic.utils.tensor_utils)

K

kernel_size (robomimic.models.base_nets.CoordConv2d attribute) key_is_obs_modality() (in module robomimic.utils.obs_utils) key_lockable (robomimic.config.config.Config property) keys (robomimic.utils.obs_utils.Modality attribute) kl_loss() (robomimic.models.vae_nets.CategoricalPrior method) (robomimic.models.vae_nets.GaussianPrior method) (robomimic.models.vae_nets.Prior method) (robomimic.models.vae_nets.VAE method)

KLD_0_1_loss() (in module robomimic.utils.loss_utils) KLD_gaussian_loss() (in module robomimic.utils.loss_utils)

L

list_of_flat_dict_to_dict_of_list() (in module robomimic.utils.tensor_utils) load_data_for_training() (in module robomimic.utils.train_utils) load_dataset_in_memory() (robomimic.utils.dataset.SequenceDataset method) load_demo_info() (robomimic.utils.dataset.SequenceDataset method) load_dict_from_checkpoint() (in module robomimic.utils.file_utils) load_json() (in module robomimic.utils.hyperparam_utils) lock() (robomimic.config.config.Config method) lock_keys() (robomimic.config.config.Config method) log_cql_weight (robomimic.algo.cql.CQL property) log_entropy_weight (robomimic.algo.cql.CQL property) log_info() (robomimic.algo.algo.Algo method) (robomimic.algo.bc.BC method) (robomimic.algo.bc.BC_Gaussian method) (robomimic.algo.bc.BC_RNN_GMM method) (robomimic.algo.bc.BC_Transformer_GMM method) (robomimic.algo.bc.BC_VAE method) (robomimic.algo.bcq.BCQ method) (robomimic.algo.cql.CQL method) (robomimic.algo.gl.GL method) (robomimic.algo.gl.GL_VAE method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method) (robomimic.algo.iql.IQL method) (robomimic.algo.td3_bc.TD3_BC method)

log_mean_exp() (in module robomimic.utils.loss_utils) log_normal() (in module robomimic.utils.loss_utils) log_normal_mixture() (in module robomimic.utils.loss_utils) log_prob() (robomimic.models.distributions.TanhWrappedDistribution method) log_sum_exp() (in module robomimic.utils.loss_utils) log_warning() (in module robomimic.utils.log_utils) logits (robomimic.models.distributions.DiscreteValueDistribution property) LowDimModality (class in robomimic.utils.obs_utils) lr_scheduler_from_optim_params() (in module robomimic.utils.torch_utils)

M

make() (robomimic.models.obs_nets.ObservationEncoder method) map_ndarray() (in module robomimic.utils.tensor_utils) map_tensor() (in module robomimic.utils.tensor_utils) map_tensor_ndarray() (in module robomimic.utils.tensor_utils) maybe_dict_from_checkpoint() (in module robomimic.utils.file_utils) maybe_no_grad() (in module robomimic.utils.torch_utils) maybe_remove_dir() (in module robomimic.utils.test_utils) maybe_remove_file() (in module robomimic.utils.test_utils) mean (robomimic.models.distributions.TanhWrappedDistribution property) mean() (robomimic.models.distributions.DiscreteValueDistribution method) meta_config() (robomimic.config.base_config.BaseConfig method) MIMO_MLP (class in robomimic.models.obs_nets) MIMO_Transformer (class in robomimic.models.obs_nets) MLP (class in robomimic.models.base_nets) Modality (class in robomimic.utils.obs_utils) module robomimic robomimic.algo robomimic.algo.algo robomimic.algo.bc robomimic.algo.bcq robomimic.algo.cql robomimic.algo.gl robomimic.algo.hbc robomimic.algo.iql robomimic.algo.iris robomimic.algo.td3_bc robomimic.config robomimic.config.base_config robomimic.config.bc_config robomimic.config.bcq_config robomimic.config.config robomimic.config.cql_config robomimic.config.gl_config robomimic.config.hbc_config robomimic.config.iql_config robomimic.config.iris_config robomimic.config.td3_bc_config robomimic.envs robomimic.envs.env_base robomimic.envs.env_robosuite robomimic.envs.wrappers robomimic.macros robomimic.macros_private robomimic.models robomimic.models.base_nets robomimic.models.distributions robomimic.models.obs_core robomimic.models.obs_nets robomimic.models.policy_nets robomimic.models.transformers robomimic.models.vae_nets robomimic.models.value_nets robomimic.utils robomimic.utils.dataset robomimic.utils.env_utils robomimic.utils.file_utils robomimic.utils.hyperparam_utils robomimic.utils.log_utils robomimic.utils.loss_utils robomimic.utils.obs_utils robomimic.utils.python_utils robomimic.utils.tensor_utils robomimic.utils.test_utils robomimic.utils.torch_utils robomimic.utils.train_utils robomimic.utils.vis_utils

Module (class in robomimic.models.base_nets) MVPConv (class in robomimic.models.base_nets)

N

name (robomimic.envs.env_base.EnvBase property) (robomimic.envs.env_robosuite.EnvRobosuite property) (robomimic.utils.obs_utils.DepthModality attribute) (robomimic.utils.obs_utils.ImageModality attribute) (robomimic.utils.obs_utils.LowDimModality attribute) (robomimic.utils.obs_utils.Modality attribute) (robomimic.utils.obs_utils.ScanModality attribute)

named_reduce() (in module robomimic.utils.tensor_utils) named_reduce_single() (in module robomimic.utils.tensor_utils) normalize_obs() (in module robomimic.utils.obs_utils) (robomimic.utils.dataset.SequenceDataset method)

O

obs_encoder_factory() (in module robomimic.models.obs_nets) obs_encoder_kwargs_from_config() (in module robomimic.utils.obs_utils) observation_config() (robomimic.config.base_config.BaseConfig method) (robomimic.config.gl_config.GLConfig method) (robomimic.config.hbc_config.HBCConfig method) (robomimic.config.iris_config.IRISConfig method) (robomimic.config.td3_bc_config.TD3_BCConfig method) ObservationDecoder (class in robomimic.models.obs_nets) ObservationEncoder (class in robomimic.models.obs_nets) ObservationGroupEncoder (class in robomimic.models.obs_nets) ObservationKeyToModalityDict (class in robomimic.utils.obs_utils) on_epoch_end() (robomimic.algo.algo.Algo method) (robomimic.algo.bcq.BCQ method) (robomimic.algo.cql.CQL method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method) (robomimic.algo.iql.IQL method) (robomimic.algo.td3_bc.TD3_BC method) optimizer_from_optim_params() (in module robomimic.utils.torch_utils) out_channels (robomimic.models.base_nets.CoordConv2d attribute) output_padding (robomimic.models.base_nets.CoordConv2d attribute) output_shape() (robomimic.models.base_nets.Conv1dBase method) (robomimic.models.base_nets.ConvBase method) (robomimic.models.base_nets.CoordConv2d method) (robomimic.models.base_nets.FeatureAggregator method) (robomimic.models.base_nets.MLP method) (robomimic.models.base_nets.Module method) (robomimic.models.base_nets.MVPConv method) (robomimic.models.base_nets.Parameter method) (robomimic.models.base_nets.R3MConv method) (robomimic.models.base_nets.ResNet18Conv method) (robomimic.models.base_nets.RNN_Base method) (robomimic.models.base_nets.Sequential method) (robomimic.models.base_nets.ShallowConv method) (robomimic.models.base_nets.SpatialMeanPool method) (robomimic.models.base_nets.SpatialSoftmax method) (robomimic.models.base_nets.Squeeze method) (robomimic.models.base_nets.Unsqueeze method) (robomimic.models.obs_core.Randomizer method) (robomimic.models.obs_core.ScanCore method) (robomimic.models.obs_core.VisualCore method) (robomimic.models.obs_nets.MIMO_MLP method) (robomimic.models.obs_nets.MIMO_Transformer method) (robomimic.models.obs_nets.ObservationDecoder method) (robomimic.models.obs_nets.ObservationEncoder method) (robomimic.models.obs_nets.ObservationGroupEncoder method) (robomimic.models.obs_nets.RNN_MIMO_MLP method) (robomimic.models.policy_nets.ActorNetwork method) (robomimic.models.policy_nets.RNNActorNetwork method) (robomimic.models.policy_nets.TransformerActorNetwork method) (robomimic.models.policy_nets.VAEActor method) (robomimic.models.transformers.CausalSelfAttention method) (robomimic.models.transformers.GPT_Backbone method) (robomimic.models.transformers.SelfAttentionBlock method) (robomimic.models.vae_nets.Prior method) (robomimic.models.value_nets.ValueNetwork method)

output_shape_in() (robomimic.models.obs_core.ColorRandomizer method) (robomimic.models.obs_core.CropRandomizer method) (robomimic.models.obs_core.GaussianNoiseRandomizer method) (robomimic.models.obs_core.Randomizer method) output_shape_out() (robomimic.models.obs_core.ColorRandomizer method) (robomimic.models.obs_core.CropRandomizer method) (robomimic.models.obs_core.GaussianNoiseRandomizer method) (robomimic.models.obs_core.Randomizer method)

P

pad_sequence() (in module robomimic.utils.tensor_utils) pad_sequence_single() (in module robomimic.utils.tensor_utils) padding (robomimic.models.base_nets.CoordConv2d attribute) padding_mode (robomimic.models.base_nets.CoordConv2d attribute) Parameter (class in robomimic.models.base_nets) PerturbationActorNetwork (class in robomimic.models.policy_nets) PlannerAlgo (class in robomimic.algo.algo) policy_from_checkpoint() (in module robomimic.utils.file_utils) PolicyAlgo (class in robomimic.algo.algo) PositionalEncoding (class in robomimic.models.transformers) postprocess_batch_for_training() (robomimic.algo.algo.Algo method) PrintLogger (class in robomimic.utils.log_utils) Prior (class in robomimic.models.vae_nets) probs (robomimic.models.distributions.DiscreteValueDistribution property) process_batch_for_training() (robomimic.algo.algo.Algo method) (robomimic.algo.bc.BC method) (robomimic.algo.bc.BC_RNN method) (robomimic.algo.bc.BC_Transformer method) (robomimic.algo.bcq.BCQ method) (robomimic.algo.cql.CQL method) (robomimic.algo.gl.GL method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method) (robomimic.algo.iql.IQL method) (robomimic.algo.iris.IRIS method) (robomimic.algo.td3_bc.TD3_BC method)

process_frame() (in module robomimic.utils.obs_utils) process_obs() (in module robomimic.utils.obs_utils) (robomimic.utils.obs_utils.Modality class method) process_obs_dict() (in module robomimic.utils.obs_utils) process_obs_from_dict() (robomimic.utils.obs_utils.Modality class method) project_values_onto_atoms() (in module robomimic.utils.loss_utils)

R

R3MConv (class in robomimic.models.base_nets) Randomizer (class in robomimic.models.obs_core) reconstruction_loss() (robomimic.models.vae_nets.VAE method) record() (robomimic.utils.log_utils.DataLogger method) recursive_dict_list_tuple_apply() (in module robomimic.utils.tensor_utils) register_algo_factory_func() (in module robomimic.algo.algo) register_all_links() (in module robomimic) register_all_momart_links() (in module robomimic) register_dataset_link() (in module robomimic) register_encoder_core() (in module robomimic.utils.obs_utils) register_momart_dataset_link() (in module robomimic) register_obs_key() (in module robomimic.utils.obs_utils) (robomimic.models.obs_nets.ObservationEncoder method) register_randomizer() (in module robomimic.utils.obs_utils) render() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) reparameterize() (in module robomimic.utils.torch_utils) (robomimic.models.vae_nets.VAE method) repeat_and_stack_observation() (in module robomimic.utils.obs_utils) repeat_by_expand_at() (in module robomimic.utils.tensor_utils) reset() (robomimic.algo.algo.Algo method) (robomimic.algo.bc.BC_RNN method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method) (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) (robomimic.envs.wrappers.FrameStackWrapper method) reset_to() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) (robomimic.envs.wrappers.FrameStackWrapper method) reshape_dimensions() (in module robomimic.utils.tensor_utils) reshape_dimensions_single() (in module robomimic.utils.tensor_utils) ResNet18Conv (class in robomimic.models.base_nets) rnn_args_from_config() (in module robomimic.models.base_nets) RNN_Base (class in robomimic.models.base_nets) RNN_MIMO_MLP (class in robomimic.models.obs_nets) rnn_type (robomimic.models.base_nets.RNN_Base property) RNNActorNetwork (class in robomimic.models.policy_nets) RNNGMMActorNetwork (class in robomimic.models.policy_nets) robomimic module robomimic.algo module robomimic.algo.algo module robomimic.algo.bc module robomimic.algo.bcq module robomimic.algo.cql module robomimic.algo.gl module robomimic.algo.hbc module robomimic.algo.iql module robomimic.algo.iris module robomimic.algo.td3_bc module robomimic.config module robomimic.config.base_config module robomimic.config.bc_config module robomimic.config.bcq_config module robomimic.config.config module robomimic.config.cql_config module robomimic.config.gl_config module

robomimic.config.hbc_config module robomimic.config.iql_config module robomimic.config.iris_config module robomimic.config.td3_bc_config module robomimic.envs module robomimic.envs.env_base module robomimic.envs.env_robosuite module robomimic.envs.wrappers module robomimic.macros module robomimic.macros_private module robomimic.models module robomimic.models.base_nets module robomimic.models.distributions module robomimic.models.obs_core module robomimic.models.obs_nets module robomimic.models.policy_nets module robomimic.models.transformers module robomimic.models.vae_nets module robomimic.models.value_nets module robomimic.utils module robomimic.utils.dataset module robomimic.utils.env_utils module robomimic.utils.file_utils module robomimic.utils.hyperparam_utils module robomimic.utils.log_utils module robomimic.utils.loss_utils module robomimic.utils.obs_utils module robomimic.utils.python_utils module robomimic.utils.tensor_utils module robomimic.utils.test_utils module robomimic.utils.torch_utils module robomimic.utils.train_utils module robomimic.utils.vis_utils module ROBOSUITE_TYPE (robomimic.envs.env_base.EnvType attribute) rollout_exceptions (robomimic.envs.env_base.EnvBase property) (robomimic.envs.env_robosuite.EnvRobosuite property) rollout_with_stats() (in module robomimic.utils.train_utils) RolloutPolicy (class in robomimic.algo.algo) rsample() (robomimic.models.distributions.TanhWrappedDistribution method) run_epoch() (in module robomimic.utils.train_utils) run_rollout() (in module robomimic.utils.train_utils)

S

sample() (robomimic.models.distributions.DiscreteValueDistribution method) (robomimic.models.distributions.TanhWrappedDistribution method) (robomimic.models.vae_nets.CategoricalPrior method) (robomimic.models.vae_nets.GaussianPrior method) (robomimic.models.vae_nets.Prior method) sample_prior() (robomimic.models.policy_nets.VAEActor method) (robomimic.models.vae_nets.VAE method) sample_random_image_crops() (in module robomimic.utils.obs_utils) sample_subgoals() (robomimic.algo.algo.PlannerAlgo method) (robomimic.algo.gl.GL method) (robomimic.algo.gl.GL_VAE method) (robomimic.algo.gl.ValuePlanner method) save_json() (in module robomimic.utils.hyperparam_utils) save_model() (in module robomimic.utils.train_utils) ScanCore (class in robomimic.models.obs_core) ScanModality (class in robomimic.utils.obs_utils) SelfAttentionBlock (class in robomimic.models.transformers) SequenceDataset (class in robomimic.utils.dataset) Sequential (class in robomimic.models.base_nets) serialize() (robomimic.algo.algo.Algo method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method) (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) set_discount() (robomimic.algo.bcq.BCQ method) (robomimic.algo.td3_bc.TD3_BC method) set_env_specific_obs_processing() (in module robomimic.utils.env_utils) set_eval() (robomimic.algo.algo.Algo method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method)

set_goal() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) set_gumbel_temperature() (robomimic.models.policy_nets.VAEActor method) (robomimic.models.vae_nets.VAE method) set_keys() (robomimic.utils.obs_utils.Modality class method) set_obs_processor() (robomimic.utils.obs_utils.Modality class method) set_obs_unprocessor() (robomimic.utils.obs_utils.Modality class method) set_train() (robomimic.algo.algo.Algo method) (robomimic.algo.bcq.BCQ method) (robomimic.algo.cql.CQL method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method) (robomimic.algo.td3_bc.TD3_BC method) set_value_for_key() (in module robomimic.utils.hyperparam_utils) set_weight() (robomimic.models.base_nets.FeatureAggregator method) setdefault() (robomimic.config.config.Config method) ShallowConv (class in robomimic.models.base_nets) should_save_from_rollout_logs() (in module robomimic.utils.train_utils) silence_stdout() (in module robomimic.utils.log_utils) soft_update() (in module robomimic.utils.torch_utils) SpatialMeanPool (class in robomimic.models.base_nets) SpatialSoftmax (class in robomimic.models.base_nets) Squeeze (class in robomimic.models.base_nets) start_episode() (robomimic.algo.algo.RolloutPolicy method) stddev (robomimic.models.distributions.TanhWrappedDistribution property) step() (robomimic.envs.env_base.EnvBase method) (robomimic.envs.env_robosuite.EnvRobosuite method) (robomimic.envs.wrappers.FrameStackWrapper method) stride (robomimic.models.base_nets.CoordConv2d attribute)

T

TanhWrappedDistribution (class in robomimic.models.distributions) TD3_BC (class in robomimic.algo.td3_bc) TD3_BCConfig (class in robomimic.config.td3_bc_config) temp_dataset_path() (in module robomimic.utils.test_utils) temp_model_dir_path() (in module robomimic.utils.test_utils) temp_video_path() (in module robomimic.utils.test_utils) test_eval_agent_from_checkpoint() (in module robomimic.utils.test_utils) test_run() (in module robomimic.utils.test_utils) time_distributed() (in module robomimic.utils.tensor_utils) to_batch() (in module robomimic.utils.tensor_utils) to_device() (in module robomimic.utils.tensor_utils) to_dict() (robomimic.config.config.Config method) to_float() (in module robomimic.utils.tensor_utils) to_list() (in module robomimic.utils.tensor_utils) to_numpy() (in module robomimic.utils.tensor_utils) to_one_hot() (in module robomimic.utils.tensor_utils) to_one_hot_single() (in module robomimic.utils.tensor_utils) to_sequence() (in module robomimic.utils.tensor_utils) to_tensor() (in module robomimic.utils.tensor_utils) to_torch() (in module robomimic.utils.tensor_utils) to_uint8() (in module robomimic.utils.tensor_utils) train() (robomimic.models.base_nets.Sequential method) train_config() (robomimic.config.base_config.BaseConfig method) (robomimic.config.bc_config.BCConfig method) (robomimic.config.cql_config.CQLConfig method) (robomimic.config.hbc_config.HBCConfig method) (robomimic.config.td3_bc_config.TD3_BCConfig method) train_on_batch() (robomimic.algo.algo.Algo method) (robomimic.algo.bc.BC method) (robomimic.algo.bc.BC_VAE method) (robomimic.algo.bcq.BCQ method) (robomimic.algo.cql.CQL method) (robomimic.algo.gl.GL method) (robomimic.algo.gl.GL_VAE method) (robomimic.algo.gl.ValuePlanner method) (robomimic.algo.hbc.HBC method) (robomimic.algo.iql.IQL method) (robomimic.algo.td3_bc.TD3_BC method) training (robomimic.models.base_nets.Conv1dBase attribute) (robomimic.models.base_nets.ConvBase attribute) (robomimic.models.base_nets.FeatureAggregator attribute) (robomimic.models.base_nets.MLP attribute) (robomimic.models.base_nets.Module attribute) (robomimic.models.base_nets.MVPConv attribute) (robomimic.models.base_nets.Parameter attribute) (robomimic.models.base_nets.R3MConv attribute) (robomimic.models.base_nets.ResNet18Conv attribute) (robomimic.models.base_nets.RNN_Base attribute) (robomimic.models.base_nets.Sequential attribute) (robomimic.models.base_nets.ShallowConv attribute) (robomimic.models.base_nets.SpatialMeanPool attribute) (robomimic.models.base_nets.SpatialSoftmax attribute) (robomimic.models.base_nets.Squeeze attribute) (robomimic.models.base_nets.Unsqueeze attribute) (robomimic.models.obs_core.ColorRandomizer attribute) (robomimic.models.obs_core.CropRandomizer attribute) (robomimic.models.obs_core.EncoderCore attribute) (robomimic.models.obs_core.GaussianNoiseRandomizer attribute) (robomimic.models.obs_core.Randomizer attribute) (robomimic.models.obs_core.ScanCore attribute) (robomimic.models.obs_core.VisualCore attribute) (robomimic.models.obs_nets.MIMO_MLP attribute) (robomimic.models.obs_nets.MIMO_Transformer attribute) (robomimic.models.obs_nets.ObservationDecoder attribute) (robomimic.models.obs_nets.ObservationEncoder attribute) (robomimic.models.obs_nets.ObservationGroupEncoder attribute) (robomimic.models.obs_nets.RNN_MIMO_MLP attribute) (robomimic.models.policy_nets.ActorNetwork attribute) (robomimic.models.policy_nets.GaussianActorNetwork attribute) (robomimic.models.policy_nets.GMMActorNetwork attribute) (robomimic.models.policy_nets.PerturbationActorNetwork attribute) (robomimic.models.policy_nets.RNNActorNetwork attribute) (robomimic.models.policy_nets.RNNGMMActorNetwork attribute) (robomimic.models.policy_nets.TransformerActorNetwork attribute) (robomimic.models.policy_nets.TransformerGMMActorNetwork attribute) (robomimic.models.policy_nets.VAEActor attribute) (robomimic.models.transformers.CausalSelfAttention attribute) (robomimic.models.transformers.GEGLU attribute) (robomimic.models.transformers.GPT_Backbone attribute) (robomimic.models.transformers.PositionalEncoding attribute) (robomimic.models.transformers.SelfAttentionBlock attribute) (robomimic.models.vae_nets.CategoricalPrior attribute) (robomimic.models.vae_nets.GaussianPrior attribute) (robomimic.models.vae_nets.Prior attribute) (robomimic.models.vae_nets.VAE attribute) (robomimic.models.value_nets.ActionValueNetwork attribute) (robomimic.models.value_nets.DistributionalActionValueNetwork attribute) (robomimic.models.value_nets.ValueNetwork attribute)

transformer_args_from_config() (in module robomimic.models.base_nets) TransformerActorNetwork (class in robomimic.models.policy_nets) TransformerGMMActorNetwork (class in robomimic.models.policy_nets) transposed (robomimic.models.base_nets.CoordConv2d attribute) type (robomimic.envs.env_base.EnvBase property) (robomimic.envs.env_robosuite.EnvRobosuite property)

U

uncache_obs_history() (robomimic.envs.wrappers.FrameStackWrapper method) unlock() (robomimic.config.config.Config method) unlock_keys() (robomimic.config.config.Config method) unlocked() (robomimic.config.config.Config method) unprocess_frame() (in module robomimic.utils.obs_utils) unprocess_obs() (in module robomimic.utils.obs_utils) (robomimic.utils.obs_utils.Modality class method) unprocess_obs_dict() (in module robomimic.utils.obs_utils) Unsqueeze (class in robomimic.models.base_nets) unsqueeze() (in module robomimic.utils.tensor_utils)

unsqueeze_expand_at() (in module robomimic.utils.tensor_utils) unwrapped (robomimic.envs.wrappers.EnvWrapper property) update() (robomimic.config.config.Config method) update_config() (in module robomimic.utils.file_utils) update_obs() (robomimic.envs.wrappers.FrameStackWrapper method) update_to() (robomimic.utils.file_utils.DownloadProgressBar method) url_is_alive() (in module robomimic.utils.file_utils) use_goals (robomimic.config.base_config.BaseConfig property) (robomimic.config.hbc_config.HBCConfig property) (robomimic.config.iris_config.IRISConfig property)

V

VAE (class in robomimic.models.vae_nets) vae_args_from_config() (in module robomimic.models.vae_nets) VAEActor (class in robomimic.models.policy_nets) ValueAlgo (class in robomimic.algo.algo) ValueNetwork (class in robomimic.models.value_nets) ValuePlanner (class in robomimic.algo.gl)

values (robomimic.models.distributions.DiscreteValueDistribution property) values_unlocked() (robomimic.config.config.Config method) variance() (robomimic.models.distributions.DiscreteValueDistribution method) version (robomimic.envs.env_base.EnvBase property) (robomimic.envs.env_robosuite.EnvRobosuite property) VisualCore (class in robomimic.models.obs_core) visualize_image_randomizer() (in module robomimic.utils.vis_utils)

W

weight (robomimic.models.base_nets.CoordConv2d attribute)

wrap_env_from_config() (in module robomimic.utils.env_utils) write() (robomimic.utils.log_utils.PrintLogger method)