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robomimic 0.5 documentation
Introduction
Overview
Installation
Implemented Algorithms
Getting Started
Datasets
Overview
robomimic v0.1 (CoRL 2021)
MimicGen (CoRL 2023)
robosuite Datasets
D4RL
MOMART Datasets and Experiments
RoboTurk Pilot
Pretrained Models
robomimic-v0.1
Tutorials
Configuring and Launching Training Runs
Logging and Viewing Training Results
Running Hyperparameter Scans
Reproducing Published Experiments and Results
Dataset Contents and Visualization
Multi-Dataset Training
Training Transformers
Training Diffusion Policy
Using Pretrained Models
Multimodal Observations
Action Configuration
Language-conditioned Policy Learning
Pre-trained Visual Representations
Implementing Custom Algorithms
Operations over Tensor Collections
Modules
Overview
SequenceDataset
Algorithms
Models
Configs
Environments
Source API
robomimic package
robomimic.algo package
robomimic.config package
robomimic.envs package
robomimic.models package
robomimic.utils package
Miscellaneous
Troubleshooting
Contributing Guidelines
Team
Acknowledgments
Projects using robomimic
Previous Versions
v0.4
v0.3
v0.2
Index
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B
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C
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D
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E
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F
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G
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H
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I
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J
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K
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L
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M
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N
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O
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P
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Q
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R
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S
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T
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U
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V
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W
A
action_dict_to_vector() (in module robomimic.utils.python_utils)
action_dimension (robomimic.envs.env_base.EnvBase property)
add_keys() (robomimic.utils.obs_utils.Modality class method)
add_param() (robomimic.utils.hyperparam_utils.ConfigGenerator method)
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.diffusion_policy_config.DiffusionPolicyConfig 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_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.diffusion_policy_config.DiffusionPolicyConfig 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)
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)
axis_angle_to_matrix() (in module robomimic.utils.torch_utils)
axis_angle_to_quaternion() (in module robomimic.utils.torch_utils)
axis_angle_to_rot_6d() (in module robomimic.utils.torch_utils)
B
backprop_for_loss() (in module robomimic.utils.torch_utils)
base_env (robomimic.envs.env_base.EnvBase 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)
BCConfig (class in robomimic.config.bc_config)
BCQConfig (class in robomimic.config.bcq_config)
bias (robomimic.models.base_nets.CoordConv2d attribute)
C
cache_obs_history() (robomimic.envs.wrappers.FrameStackWrapper method)
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)
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)
ColorRandomizer (class in robomimic.models.obs_core)
ConditionalResidualBlock1D (class in robomimic.models.diffusion_policy_nets)
ConditionalUnet1D (class in robomimic.models.diffusion_policy_nets)
Config (class in robomimic.config.config)
config_factory() (in module robomimic.config.base_config)
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)
Conv1dBlock (class in robomimic.models.diffusion_policy_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)
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)
crop_image_from_indices() (in module robomimic.utils.obs_utils)
CropRandomizer (class in robomimic.models.obs_core)
custom_tqdm (class in robomimic.utils.log_utils)
D
DataLogger (class in robomimic.utils.log_utils)
deep_update() (in module robomimic.utils.python_utils)
deepcopy() (robomimic.config.config.Config method)
depth_to_rgb() (in module robomimic.utils.vis_utils)
DepthModality (class in robomimic.utils.obs_utils)
detach() (in module robomimic.utils.tensor_utils)
DiffusionPolicyConfig (class in robomimic.config.diffusion_policy_config)
dilation (robomimic.models.base_nets.CoordConv2d attribute)
DiscreteValueDistribution (class in robomimic.models.distributions)
do_not_lock_keys() (robomimic.config.config.Config method)
Downsample1d (class in robomimic.models.diffusion_policy_nets)
dummy_context_mgr (class in robomimic.utils.torch_utils)
dump() (robomimic.config.config.Config method)
E
EncoderCore (class in robomimic.models.obs_core)
EnvBase (class in robomimic.envs.env_base)
EnvType (class in robomimic.envs.env_base)
EnvWrapper (class in robomimic.envs.wrappers)
euler_angles_to_matrix() (in module robomimic.utils.torch_utils)
euler_angles_to_rot_6d() (in module robomimic.utils.torch_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)
FiLMLayer (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.FiLMLayer method)
(robomimic.models.base_nets.MLP method)
(robomimic.models.base_nets.MVPConv method)
(robomimic.models.base_nets.Parameter method)
(robomimic.models.base_nets.ResNet18ConvFiLM 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.diffusion_policy_nets.ConditionalResidualBlock1D method)
(robomimic.models.diffusion_policy_nets.ConditionalUnet1D method)
(robomimic.models.diffusion_policy_nets.Conv1dBlock method)
(robomimic.models.diffusion_policy_nets.Downsample1d method)
(robomimic.models.diffusion_policy_nets.SinusoidalPosEmb method)
(robomimic.models.diffusion_policy_nets.Upsample1d method)
(robomimic.models.obs_core.ScanCore method)
(robomimic.models.obs_core.VisualCore method)
(robomimic.models.obs_core.VisualCoreLanguageConditioned 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)
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)
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)
GaussianNoiseRandomizer (class in robomimic.models.obs_core)
GEGLU (class in robomimic.models.transformers)
geglu() (robomimic.models.transformers.GEGLU method)
generate() (robomimic.utils.hyperparam_utils.ConfigGenerator method)
get_all_registered_configs() (in module robomimic.config.base_config)
get_batch_transform() (robomimic.models.obs_core.ColorRandomizer method)
get_class_init_kwargs() (in module robomimic.utils.python_utils)
get_env_class() (in module robomimic.utils.env_utils)
get_env_type() (in module robomimic.utils.env_utils)
get_goal() (robomimic.envs.env_base.EnvBase method)
get_observation() (robomimic.envs.env_base.EnvBase method)
get_processed_shape() (in module robomimic.utils.obs_utils)
get_reward() (robomimic.envs.env_base.EnvBase method)
get_rnn_init_state() (robomimic.models.base_nets.RNN_Base method)
get_shape() (in module robomimic.utils.tensor_utils)
get_state() (robomimic.envs.env_base.EnvBase method)
get_state_dict() (in module robomimic.utils.torch_utils)
get_stats() (robomimic.utils.log_utils.DataLogger method)
get_torch_device() (in module robomimic.utils.torch_utils)
get_transform() (robomimic.models.obs_core.ColorRandomizer method)
get_value_for_key() (in module robomimic.utils.hyperparam_utils)
GLConfig (class in robomimic.config.gl_config)
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)
HBCConfig (class in robomimic.config.hbc_config)
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)
IQLConfig (class in robomimic.config.iql_config)
IRISConfig (class in robomimic.config.iris_config)
is_done() (robomimic.envs.env_base.EnvBase method)
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)
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)
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_json() (in module robomimic.utils.hyperparam_utils)
load_state_dict() (in module robomimic.utils.torch_utils)
lock() (robomimic.config.config.Config method)
lock_keys() (robomimic.config.config.Config 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
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)
matrix_to_axis_angle() (in module robomimic.utils.torch_utils)
matrix_to_euler_angles() (in module robomimic.utils.torch_utils)
matrix_to_quaternion() (in module robomimic.utils.torch_utils)
matrix_to_rotation_6d() (in module robomimic.utils.torch_utils)
maybe_no_grad() (in module robomimic.utils.torch_utils)
mean (robomimic.models.distributions.TanhWrappedDistribution property)
mean() (robomimic.models.distributions.DiscreteValueDistribution method)
meta_config() (robomimic.config.base_config.BaseConfig method)
MLP (class in robomimic.models.base_nets)
Modality (class in robomimic.utils.obs_utils)
module
robomimic
robomimic.config
robomimic.config.base_config
robomimic.config.bc_config
robomimic.config.bcq_config
robomimic.config.config
robomimic.config.cql_config
robomimic.config.diffusion_policy_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.wrappers
robomimic.macros
robomimic.macros_private
robomimic.models
robomimic.models.base_nets
robomimic.models.diffusion_policy_nets
robomimic.models.distributions
robomimic.models.obs_core
robomimic.models.transformers
robomimic.utils
robomimic.utils.env_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.torch_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.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_dict() (in module robomimic.utils.obs_utils)
O
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)
ObservationKeyToModalityDict (class in robomimic.utils.obs_utils)
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.FiLMLayer 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.ResNet18ConvFiLM method)
(robomimic.models.base_nets.ResNet50Conv 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.transformers.CausalSelfAttention method)
(robomimic.models.transformers.GPT_Backbone method)
(robomimic.models.transformers.SelfAttentionBlock 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)
PositionalEncoding (class in robomimic.models.transformers)
PrintLogger (class in robomimic.utils.log_utils)
probs (robomimic.models.distributions.DiscreteValueDistribution property)
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)
Q
quaternion_to_axis_angle() (in module robomimic.utils.torch_utils)
quaternion_to_matrix() (in module robomimic.utils.torch_utils)
R
R3MConv (class in robomimic.models.base_nets)
Randomizer (class in robomimic.models.obs_core)
record() (robomimic.utils.log_utils.DataLogger method)
recursive_dict_list_tuple_apply() (in module robomimic.utils.tensor_utils)
register_all_links() (in module robomimic)
register_all_momart_links() (in module robomimic)
register_dataset_link() (in module robomimic)
register_encoder_backbone() (in module robomimic.utils.obs_utils)
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)
register_randomizer() (in module robomimic.utils.obs_utils)
render() (robomimic.envs.env_base.EnvBase method)
reparameterize() (in module robomimic.utils.torch_utils)
repeat_and_stack_observation() (in module robomimic.utils.obs_utils)
repeat_by_expand_at() (in module robomimic.utils.tensor_utils)
reset() (robomimic.envs.env_base.EnvBase method)
(robomimic.envs.wrappers.FrameStackWrapper method)
reset_to() (robomimic.envs.env_base.EnvBase 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)
ResNet18ConvFiLM (class in robomimic.models.base_nets)
ResNet50Conv (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_type (robomimic.models.base_nets.RNN_Base property)
robomimic
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.diffusion_policy_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.wrappers
module
robomimic.macros
module
robomimic.macros_private
module
robomimic.models
module
robomimic.models.base_nets
module
robomimic.models.diffusion_policy_nets
module
robomimic.models.distributions
module
robomimic.models.obs_core
module
robomimic.models.transformers
module
robomimic.utils
module
robomimic.utils.env_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.torch_utils
module
robomimic.utils.vis_utils
module
ROBOSUITE_TYPE (robomimic.envs.env_base.EnvType attribute)
rollout_exceptions (robomimic.envs.env_base.EnvBase property)
rot_6d_to_axis_angle() (in module robomimic.utils.torch_utils)
rot_6d_to_euler_angles() (in module robomimic.utils.torch_utils)
rotation_6d_to_matrix() (in module robomimic.utils.torch_utils)
rsample() (robomimic.models.distributions.TanhWrappedDistribution method)
S
sample() (robomimic.models.distributions.DiscreteValueDistribution method)
(robomimic.models.distributions.TanhWrappedDistribution method)
sample_random_image_crops() (in module robomimic.utils.obs_utils)
save_json() (in module robomimic.utils.hyperparam_utils)
ScanCore (class in robomimic.models.obs_core)
ScanModality (class in robomimic.utils.obs_utils)
SelfAttentionBlock (class in robomimic.models.transformers)
Sequential (class in robomimic.models.base_nets)
serialize() (robomimic.envs.env_base.EnvBase method)
set_env_specific_obs_processing() (in module robomimic.utils.env_utils)
set_goal() (robomimic.envs.env_base.EnvBase 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_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)
silence_stdout() (in module robomimic.utils.log_utils)
SinusoidalPosEmb (class in robomimic.models.diffusion_policy_nets)
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)
stddev (robomimic.models.distributions.TanhWrappedDistribution property)
step() (robomimic.envs.env_base.EnvBase method)
(robomimic.envs.wrappers.FrameStackWrapper method)
stride (robomimic.models.base_nets.CoordConv2d attribute)
T
TanhWrappedDistribution (class in robomimic.models.distributions)
TD3_BCConfig (class in robomimic.config.td3_bc_config)
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.diffusion_policy_config.DiffusionPolicyConfig method)
(robomimic.config.hbc_config.HBCConfig method)
(robomimic.config.td3_bc_config.TD3_BCConfig method)
training (robomimic.models.base_nets.Conv1dBase attribute)
(robomimic.models.base_nets.ConvBase attribute)
(robomimic.models.base_nets.FeatureAggregator attribute)
(robomimic.models.base_nets.FiLMLayer 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.ResNet18ConvFiLM attribute)
(robomimic.models.base_nets.ResNet50Conv 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.diffusion_policy_nets.ConditionalResidualBlock1D attribute)
(robomimic.models.diffusion_policy_nets.ConditionalUnet1D attribute)
(robomimic.models.diffusion_policy_nets.Conv1dBlock attribute)
(robomimic.models.diffusion_policy_nets.Downsample1d attribute)
(robomimic.models.diffusion_policy_nets.SinusoidalPosEmb attribute)
(robomimic.models.diffusion_policy_nets.Upsample1d 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_core.VisualCoreLanguageConditioned 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)
transformer_args_from_config() (in module robomimic.models.base_nets)
transposed (robomimic.models.base_nets.CoordConv2d attribute)
type (robomimic.envs.env_base.EnvBase 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)
unnormalize_dict() (in module robomimic.utils.obs_utils)
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_obs() (robomimic.envs.wrappers.FrameStackWrapper method)
Upsample1d (class in robomimic.models.diffusion_policy_nets)
use_goals (robomimic.config.base_config.BaseConfig property)
(robomimic.config.hbc_config.HBCConfig property)
(robomimic.config.iris_config.IRISConfig property)
V
values (robomimic.models.distributions.DiscreteValueDistribution property)
values_unlocked() (robomimic.config.config.Config method)
variance() (robomimic.models.distributions.DiscreteValueDistribution method)
vector_to_action_dict() (in module robomimic.utils.python_utils)
version (robomimic.envs.env_base.EnvBase property)
VisualCore (class in robomimic.models.obs_core)
VisualCoreLanguageConditioned (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)