SYMBOL INDEX (301 symbols across 25 files)

FILE: mvp/backbones/model_zoo.py
  function _progress_bar (line 32) | def _progress_bar(count, total):
  function download_url (line 48) | def download_url(url, dst_file_path, chunk_size=8192, progress_hook=_pro...
  function cache_url (line 70) | def cache_url(model_name, url_or_file, cache_dir=_DOWNLOAD_CACHE, downlo...
  function available_models (line 91) | def available_models():
  function load (line 96) | def load(name):

FILE: mvp/backbones/vit.py
  class VisionTransformer (line 19) | class VisionTransformer(timm.models.vision_transformer.VisionTransformer):
    method __init__ (line 25) | def __init__(self, **kwargs):
    method extract_feat (line 32) | def extract_feat(self, x):
    method forward_norm (line 46) | def forward_norm(self, x):
    method forward (line 49) | def forward(self, x):
    method freeze (line 52) | def freeze(self):
  function vit_s16 (line 72) | def vit_s16(pretrained, **kwargs):
  function vit_b16 (line 85) | def vit_b16(pretrained, **kwargs):
  function vit_l16 (line 98) | def vit_l16(pretrained, **kwargs):
  function unwrap_model (line 111) | def unwrap_model(model):
  function load_checkpoint (line 117) | def load_checkpoint(checkpoint_file, model):

FILE: mvp/bc/actor.py
  class Encoder (line 31) | class Encoder(nn.Module):
    method __init__ (line 33) | def __init__(self, model_name, pretrain_dir, freeze, emb_dim):
    method forward_feat_norm (line 45) | def forward_feat_norm(self, x):
    method forward_projector (line 49) | def forward_projector(self, x):
    method forward (line 52) | def forward(self, x):
  class PixelActor (line 61) | class PixelActor(nn.Module):
    method __init__ (line 63) | def __init__(self, state_dim, action_dim, encoder_cfg, policy_cfg):
    method init_weights (line 105) | def init_weights(sequential, scales, init_method):
    method forward (line 120) | def forward(self, images, states):

FILE: mvp/bc/bc.py
  function get_optimizer_groups (line 29) | def get_optimizer_groups(model, default_wd):
  function test_env (line 70) | def test_env(cfg, vec_env, model, writer, cur_epoch):
  function test_epoch (line 124) | def test_epoch(cfg, test_loader, model, writer, cur_epoch):
  function train_epoch (line 138) | def train_epoch(cfg, train_loader, model, optimizer, writer, cur_epoch):
  function train (line 165) | def train(cfg, vec_env):

FILE: mvp/bc/dataset.py
  function lower_center_crop (line 24) | def lower_center_crop(im, crop_size):
  function lower_random_shift_crop (line 31) | def lower_random_shift_crop(im, crop_size, max_shift):
  function resize_crop (line 41) | def resize_crop(im, size, max_shift=0, lower_crop=True):
  function color_norm (line 58) | def color_norm(im, mean, std):
  function color_unnorm (line 65) | def color_unnorm(im, mean, std):
  function normalize (line 72) | def normalize(im):
  function unnormalize (line 83) | def unnormalize(im):
  class GaussianBlur (line 94) | class GaussianBlur(object):
    method __init__ (line 97) | def __init__(self, sigma=(.1, 2.)):
    method __call__ (line 100) | def __call__(self, x):
  class RealDemoDataset (line 106) | class RealDemoDataset(torch.utils.data.Dataset):
    method __init__ (line 109) | def __init__(
    method _scale_joint (line 145) | def _scale_joint(self, joints):
    method _compute_joint_state (line 148) | def _compute_joint_state(self, obs_t):
    method _compute_joint_action (line 153) | def _compute_joint_action(self, obs_t, obs_t1):
    method _filter_demo (line 165) | def _filter_demo(self, demo, pos_filter_thres=0.004):
    method _construct (line 176) | def _construct(self):
    method process_image (line 233) | def process_image(self, im):
    method __getitem__ (line 241) | def __getitem__(self, ind):
    method __len__ (line 251) | def __len__(self):
  class SimDemoDataset (line 255) | class SimDemoDataset(torch.utils.data.Dataset):
    method __init__ (line 258) | def __init__(
    method _construct (line 271) | def _construct(self):
    method __getitem__ (line 301) | def __getitem__(self, ind):
    method __len__ (line 309) | def __len__(self):

FILE: mvp/bc/utils.py
  class AverageMeter (line 11) | class AverageMeter(object):
    method __init__ (line 13) | def __init__(self, name, fmt=":f"):
    method reset (line 18) | def reset(self):
    method update (line 24) | def update(self, val, n=1):
    method __str__ (line 30) | def __str__(self):
  function adjust_lr (line 35) | def adjust_lr(optimizer, base_lr, cur_epoch, warmup_epoch, num_epoch):
  function save_checkpoint (line 45) | def save_checkpoint(out_dir, model, cur_epoch):
  function save_best_checkpoint (line 55) | def save_best_checkpoint(out_dir, model, cur_epoch, best_loss):
  function load_checkpoint (line 66) | def load_checkpoint(file_path, model):

FILE: mvp/ppo/actor_critic.py
  class ActorCritic (line 19) | class ActorCritic(nn.Module):
    method __init__ (line 21) | def __init__(
    method init_weights (line 76) | def init_weights(sequential, scales):
    method act (line 81) | def act(self, observations, states):
    method act_inference (line 102) | def act_inference(self, observations, states=None):
    method forward (line 106) | def forward(self, observations, states, actions):
  class Encoder (line 138) | class Encoder(nn.Module):
    method __init__ (line 140) | def __init__(self, model_name, pretrain_dir, freeze, emb_dim):
    method forward (line 153) | def forward(self, x):
    method forward_feat (line 157) | def forward_feat(self, feat):
  class PixelActorCritic (line 161) | class PixelActorCritic(nn.Module):
    method __init__ (line 163) | def __init__(
    method init_weights (line 236) | def init_weights(sequential, scales):
    method act (line 245) | def act(self, observations, states):
    method act_inference (line 270) | def act_inference(self, observations, states):
    method forward (line 277) | def forward(self, obs_features, states, actions):

FILE: mvp/ppo/ppo.py
  class PPO (line 22) | class PPO:
    method __init__ (line 24) | def __init__(
    method test (line 134) | def test(self, path):
    method load (line 140) | def load(self, path):
    method save (line 145) | def save(self, path):
    method run (line 148) | def run(self, num_learning_iterations, log_interval=1):
    method log (line 275) | def log(
    method update (line 334) | def update(self, cur_iter, max_iter):
    method adjust_learning_rate_cos (line 397) | def adjust_learning_rate_cos(self, optimizer, epoch, max_epoch, iter, ...

FILE: mvp/ppo/storage.py
  class RolloutStorage (line 12) | class RolloutStorage:
    method __init__ (line 14) | def __init__(
    method add_transitions (line 48) | def add_transitions(self, observations, states, actions, rewards, done...
    method clear (line 68) | def clear(self):
    method compute_returns (line 71) | def compute_returns(self, last_values, gamma, lam):
    method get_statistics (line 87) | def get_statistics(self):
    method mini_batch_generator (line 97) | def mini_batch_generator(self, num_mini_batches):

FILE: mvp/utils/hydra_utils.py
  function omegaconf_to_dict (line 50) | def omegaconf_to_dict(d: DictConfig) -> Dict:
  function print_dict (line 61) | def print_dict(val, nesting: int = -4, start: bool = True):
  function set_np_formatting (line 75) | def set_np_formatting():
  function set_seed (line 81) | def set_seed(seed, torch_deterministic=False):
  function parse_sim_params (line 108) | def parse_sim_params(cfg, cfg_dict):
  function parse_task (line 146) | def parse_task(cfg, cfg_dict, sim_params):
  function process_ppo (line 172) | def process_ppo(env, cfg, cfg_dict, logdir, cptdir):
  function dump_cfg (line 225) | def dump_cfg(cfg, logdir):

FILE: pixmc/tasks/base/base_task.py
  class BaseTask (line 22) | class BaseTask():
    method __init__ (line 24) | def __init__(self, cfg, enable_camera_sensors=False):
    method set_sim_params_up_axis (line 115) | def set_sim_params_up_axis(self, sim_params, axis):
    method create_sim (line 124) | def create_sim(self, compute_device, graphics_device, physics_engine, ...
    method step (line 132) | def step(self, actions):
    method get_states (line 154) | def get_states(self):
    method render (line 157) | def render(self, sync_frame_time=False):
    method get_actor_params_info (line 184) | def get_actor_params_info(self, dr_params, env):
    method apply_randomizations (line 222) | def apply_randomizations(self, dr_params):
    method pre_physics_step (line 418) | def pre_physics_step(self, actions):
    method post_physics_step (line 421) | def post_physics_step(self):
  function get_attr_val_from_sample (line 425) | def get_attr_val_from_sample(sample, offset, prop, attr):

FILE: pixmc/tasks/base/vec_task.py
  class VecTask (line 17) | class VecTask():
    method __init__ (line 18) | def __init__(self, task, rl_device, clip_observations=5.0, clip_action...
    method step (line 37) | def step(self, actions):
    method reset (line 40) | def reset(self):
    method get_number_of_agents (line 43) | def get_number_of_agents(self):
    method observation_space (line 47) | def observation_space(self):
    method action_space (line 51) | def action_space(self):
    method num_envs (line 55) | def num_envs(self):
    method num_acts (line 59) | def num_acts(self):
    method num_obs (line 63) | def num_obs(self):
  class VecTaskCPU (line 68) | class VecTaskCPU(VecTask):
    method __init__ (line 69) | def __init__(self, task, rl_device, sync_frame_time=False, clip_observ...
    method step (line 73) | def step(self, actions):
    method reset (line 83) | def reset(self):
  class VecTaskGPU (line 93) | class VecTaskGPU(VecTask):
    method __init__ (line 94) | def __init__(self, task, rl_device, clip_observations=5.0, clip_action...
    method step (line 101) | def step(self, actions):
    method reset (line 110) | def reset(self):
  class VecTaskPython (line 121) | class VecTaskPython(VecTask):
    method get_state (line 123) | def get_state(self):
    method step (line 126) | def step(self, actions):
    method reset (line 133) | def reset(self):

FILE: pixmc/tasks/franka_cabinet.py
  class FrankaCabinet (line 21) | class FrankaCabinet(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 168) | def create_sim(self):
    method _create_ground_plane (line 178) | def _create_ground_plane(self):
    method _create_envs (line 183) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 372) | def init_grasp_pose(self):
    method compute_reward (line 396) | def compute_reward(self, actions):
    method reset (line 405) | def reset(self, env_ids):
    method pre_physics_step (line 483) | def pre_physics_step(self, actions):
    method compute_task_state (line 492) | def compute_task_state(self):
    method compute_robot_state (line 511) | def compute_robot_state(self):
    method compute_robot_obs (line 520) | def compute_robot_obs(self):
    method compute_oracle_obs (line 524) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 531) | def compute_pixel_obs(self):
    method post_physics_step (line 541) | def post_physics_step(self):
  function compute_franka_reward (line 560) | def compute_franka_reward(

FILE: pixmc/tasks/franka_move.py
  class FrankaMove (line 21) | class FrankaMove(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 156) | def create_sim(self):
    method _create_ground_plane (line 166) | def _create_ground_plane(self):
    method _create_envs (line 171) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 349) | def init_grasp_pose(self):
    method compute_reward (line 363) | def compute_reward(self, actions):
    method reset (line 372) | def reset(self, env_ids):
    method pre_physics_step (line 454) | def pre_physics_step(self, actions):
    method compute_task_state (line 463) | def compute_task_state(self):
    method compute_robot_state (line 477) | def compute_robot_state(self):
    method compute_robot_obs (line 486) | def compute_robot_obs(self):
    method compute_oracle_obs (line 490) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 497) | def compute_pixel_obs(self):
    method post_physics_step (line 507) | def post_physics_step(self):
  function compute_franka_reward (line 526) | def compute_franka_reward(

FILE: pixmc/tasks/franka_pick.py
  class FrankaPick (line 21) | class FrankaPick(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 154) | def create_sim(self):
    method _create_ground_plane (line 164) | def _create_ground_plane(self):
    method _create_envs (line 169) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 328) | def init_grasp_pose(self):
    method compute_reward (line 342) | def compute_reward(self, actions):
    method reset (line 351) | def reset(self, env_ids):
    method pre_physics_step (line 411) | def pre_physics_step(self, actions):
    method compute_task_state (line 420) | def compute_task_state(self):
    method compute_robot_state (line 433) | def compute_robot_state(self):
    method compute_robot_obs (line 442) | def compute_robot_obs(self):
    method compute_oracle_obs (line 446) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 453) | def compute_pixel_obs(self):
    method post_physics_step (line 463) | def post_physics_step(self):
  function compute_franka_reward (line 482) | def compute_franka_reward(

FILE: pixmc/tasks/franka_pick_object.py
  class FrankaPickObject (line 21) | class FrankaPickObject(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 175) | def create_sim(self):
    method _create_ground_plane (line 185) | def _create_ground_plane(self):
    method _create_envs (line 190) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 358) | def init_grasp_pose(self):
    method compute_reward (line 372) | def compute_reward(self, actions):
    method reset (line 381) | def reset(self, env_ids):
    method pre_physics_step (line 441) | def pre_physics_step(self, actions):
    method compute_task_state (line 450) | def compute_task_state(self):
    method compute_robot_state (line 463) | def compute_robot_state(self):
    method compute_robot_obs (line 472) | def compute_robot_obs(self):
    method compute_oracle_obs (line 476) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 483) | def compute_pixel_obs(self):
    method post_physics_step (line 493) | def post_physics_step(self):
  function compute_franka_reward (line 512) | def compute_franka_reward(

FILE: pixmc/tasks/franka_reach.py
  class FrankaReach (line 21) | class FrankaReach(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 146) | def create_sim(self):
    method _create_ground_plane (line 156) | def _create_ground_plane(self):
    method _create_envs (line 161) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 320) | def init_grasp_pose(self):
    method compute_reward (line 334) | def compute_reward(self, actions):
    method reset (line 341) | def reset(self, env_ids):
    method pre_physics_step (line 401) | def pre_physics_step(self, actions):
    method compute_task_state (line 410) | def compute_task_state(self):
    method compute_robot_state (line 423) | def compute_robot_state(self):
    method compute_robot_obs (line 432) | def compute_robot_obs(self):
    method compute_oracle_obs (line 436) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 442) | def compute_pixel_obs(self):
    method post_physics_step (line 452) | def post_physics_step(self):
  function compute_franka_reward (line 471) | def compute_franka_reward(

FILE: pixmc/tasks/kuka_cabinet.py
  class KukaCabinet (line 21) | class KukaCabinet(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 185) | def create_sim(self):
    method _create_ground_plane (line 195) | def _create_ground_plane(self):
    method _create_envs (line 200) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 415) | def init_grasp_pose(self):
    method compute_reward (line 454) | def compute_reward(self, actions):
    method reset (line 465) | def reset(self, env_ids):
    method pre_physics_step (line 543) | def pre_physics_step(self, actions):
    method compute_task_state (line 552) | def compute_task_state(self):
    method compute_robot_state (line 582) | def compute_robot_state(self):
    method compute_robot_obs (line 591) | def compute_robot_obs(self):
    method compute_oracle_obs (line 595) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 605) | def compute_pixel_obs(self):
    method post_physics_step (line 615) | def post_physics_step(self):
  function compute_kuka_reward (line 634) | def compute_kuka_reward(

FILE: pixmc/tasks/kuka_move.py
  class KukaMove (line 21) | class KukaMove(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 173) | def create_sim(self):
    method _create_ground_plane (line 183) | def _create_ground_plane(self):
    method _create_envs (line 188) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 388) | def init_grasp_pose(self):
    method compute_reward (line 417) | def compute_reward(self, actions):
    method reset (line 427) | def reset(self, env_ids):
    method pre_physics_step (line 509) | def pre_physics_step(self, actions):
    method compute_task_state (line 518) | def compute_task_state(self):
    method compute_robot_state (line 541) | def compute_robot_state(self):
    method compute_robot_obs (line 550) | def compute_robot_obs(self):
    method compute_oracle_obs (line 554) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 564) | def compute_pixel_obs(self):
    method post_physics_step (line 574) | def post_physics_step(self):
  function compute_kuka_reward (line 593) | def compute_kuka_reward(

FILE: pixmc/tasks/kuka_pick.py
  class KukaPick (line 21) | class KukaPick(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 171) | def create_sim(self):
    method _create_ground_plane (line 181) | def _create_ground_plane(self):
    method _create_envs (line 186) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 366) | def init_grasp_pose(self):
    method compute_reward (line 395) | def compute_reward(self, actions):
    method reset (line 405) | def reset(self, env_ids):
    method pre_physics_step (line 465) | def pre_physics_step(self, actions):
    method compute_task_state (line 474) | def compute_task_state(self):
    method compute_robot_state (line 497) | def compute_robot_state(self):
    method compute_robot_obs (line 506) | def compute_robot_obs(self):
    method compute_oracle_obs (line 510) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 520) | def compute_pixel_obs(self):
    method post_physics_step (line 530) | def post_physics_step(self):
  function compute_kuka_reward (line 549) | def compute_kuka_reward(

FILE: pixmc/tasks/kuka_pick_object.py
  class KukaPickObject (line 21) | class KukaPickObject(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 192) | def create_sim(self):
    method _create_ground_plane (line 202) | def _create_ground_plane(self):
    method _create_envs (line 207) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 396) | def init_grasp_pose(self):
    method compute_reward (line 425) | def compute_reward(self, actions):
    method reset (line 435) | def reset(self, env_ids):
    method pre_physics_step (line 495) | def pre_physics_step(self, actions):
    method compute_task_state (line 504) | def compute_task_state(self):
    method compute_robot_state (line 527) | def compute_robot_state(self):
    method compute_robot_obs (line 536) | def compute_robot_obs(self):
    method compute_oracle_obs (line 540) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 550) | def compute_pixel_obs(self):
    method post_physics_step (line 560) | def post_physics_step(self):
  function compute_kuka_reward (line 579) | def compute_kuka_reward(

FILE: pixmc/tasks/kuka_reach.py
  class KukaReach (line 21) | class KukaReach(BaseTask):
    method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
    method create_sim (line 148) | def create_sim(self):
    method _create_ground_plane (line 158) | def _create_ground_plane(self):
    method _create_envs (line 163) | def _create_envs(self, num_envs, spacing, num_per_row):
    method init_grasp_pose (line 339) | def init_grasp_pose(self):
    method compute_reward (line 350) | def compute_reward(self, actions):
    method reset (line 357) | def reset(self, env_ids):
    method pre_physics_step (line 417) | def pre_physics_step(self, actions):
    method compute_task_state (line 426) | def compute_task_state(self):
    method compute_robot_state (line 433) | def compute_robot_state(self):
    method compute_robot_obs (line 442) | def compute_robot_obs(self):
    method compute_oracle_obs (line 446) | def compute_oracle_obs(self):
    method compute_pixel_obs (line 452) | def compute_pixel_obs(self):
    method post_physics_step (line 462) | def post_physics_step(self):
  function compute_kuka_reward (line 481) | def compute_kuka_reward(

FILE: pixmc/utils/torch_jit_utils.py
  function quat_axis (line 11) | def quat_axis(q, axis=0):

FILE: tools/train_bc.py
  function train (line 17) | def train(cfg: omegaconf.DictConfig):

FILE: tools/train_ppo.py
  function train (line 16) | def train(cfg: omegaconf.DictConfig):