Index

A

accelerator (robo_orchard_lab.pipeline.batch_processor.simple.SimpleBatchProcessor attribute) (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) accelerator_load_state() (in module robo_orchard_lab.utils.huggingface) accelerator_save_state_pre_hook() (robo_orchard_lab.models.mixin.ModelMixin static method) AcceleratorState (class in robo_orchard_lab.utils.huggingface) act_and_norm (robo_orchard_lab.models.sem_modules.layers.UpsampleHead attribute) adaLN_modulation (robo_orchard_lab.models.sem_modules.layers.AdaRMSNorm attribute) AdaptivePadding (class in robo_orchard_lab.models.modules.swin_transformer) AdaRMSNorm (class in robo_orchard_lab.models.sem_modules.layers) add_identity (robo_orchard_lab.models.layers.transformer_layers.FFN attribute) add_neg_dn (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) alpha (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) anchor (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank attribute) anchor_encoder (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) anchor_in_camera (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank attribute) anchor_init (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank attribute)

anchor_name (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank attribute) ann_file (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) AnyTensorFeature (class in robo_orchard_lab.dataset.datatypes.hg_features.tensor) apply_grid_mask_keys (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) apply_scale_shift() (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder method) arch_settings (robo_orchard_lab.models.modules.resnet.ResNet attribute) area_split (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric attribute) as_sequence() (in module robo_orchard_lab.utils.misc) as_torch_tensor (robo_orchard_lab.dataset.datatypes.hg_features.tensor.AnyTensorFeature attribute) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.TypedTensorFeature attribute) attention_weights (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) attn (robo_orchard_lab.models.bip3d.layers.SingleScaleBiAttentionBlock attribute) (robo_orchard_lab.models.layers.transformer_layers.MultiheadAttention attribute) (robo_orchard_lab.models.modules.swin_transformer.SwinBlock attribute) attn_drop (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) AutoTokenizer (in module robo_orchard_lab.models.bip3d.bert) average_precision() (in module robo_orchard_lab.dataset.embodiedscan.metrics)

B

backbone (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) backbone_3d (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) base (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding attribute) Base64EncodedBLOB (class in robo_orchard_lab.dataset.robot.db_orm.sql_types) Base64JSONEncodedDict (class in robo_orchard_lab.dataset.robot.db_orm.sql_types) BaseDataPreprocessor (class in robo_orchard_lab.models.layers.data_preprocessors) BaseIndexData (class in robo_orchard_lab.dataset.lmdb.base_lmdb_dataset) BaseLmdbManipulationDataPacker (class in robo_orchard_lab.dataset.lmdb.base_lmdb_dataset) BaseLmdbManipulationDataset (class in robo_orchard_lab.dataset.lmdb.base_lmdb_dataset) basic_config() (in module robo_orchard_lab.utils.logging) BasicBlock (class in robo_orchard_lab.models.modules.resnet) batch (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) batch_first (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) (robo_orchard_lab.models.layers.transformer_layers.MultiheadAttention attribute) batch_processor (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) batch_size (robo_orchard_lab.pipeline.hooks.stats.StatsMonitor attribute) (robo_orchard_lab.pipeline.hooks.stats.StatsMonitorConfig attribute) batch_transforms (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) BatchCameraData (class in robo_orchard_lab.dataset.datatypes.camera) BatchCameraDataEncoded (class in robo_orchard_lab.dataset.datatypes.camera) BatchCameraDataEncodedFeature (class in robo_orchard_lab.dataset.datatypes.camera) BatchCameraDataFeature (class in robo_orchard_lab.dataset.datatypes.camera) BatchCameraInfo (class in robo_orchard_lab.dataset.datatypes.camera) BatchCameraInfoFeature (class in robo_orchard_lab.dataset.datatypes.camera) BatchDepthProbGTGenerator (class in robo_orchard_lab.models.bip3d.spatial_enhancer) BatchFrameTransform (class in robo_orchard_lab.dataset.datatypes.geometry) BatchFrameTransformFeature (class in robo_orchard_lab.dataset.datatypes.geometry) BatchJointsState (class in robo_orchard_lab.dataset.datatypes.joint_state)

BatchJointsStateFeature (class in robo_orchard_lab.dataset.datatypes.joint_state) BatchPose (class in robo_orchard_lab.dataset.datatypes.geometry) BatchPoseFeature (class in robo_orchard_lab.dataset.datatypes.geometry) BatchProcessorFromCallable (class in robo_orchard_lab.pipeline.batch_processor.simple) BatchProcessorMixin (class in robo_orchard_lab.pipeline.batch_processor.mixin) BatchTransform3D (class in robo_orchard_lab.dataset.datatypes.geometry) BatchTransform3DFeature (class in robo_orchard_lab.dataset.datatypes.geometry) BBox3DDecoder (class in robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder) bbox_to_corners() (in module robo_orchard_lab.dataset.embodiedscan.metrics) bbox_transform() (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank method) begin() (robo_orchard_lab.pipeline.hooks.mixin.PipelineHooks method) BertEncoder (class in robo_orchard_lab.models.bip3d.bert) BertModel (class in robo_orchard_lab.models.bip3d.bert) BigIntUuid64 (class in robo_orchard_lab.dataset.robot.db_orm.sql_types) BiMultiHeadAttention (class in robo_orchard_lab.models.bip3d.layers) BIP3D (class in robo_orchard_lab.models.bip3d.structure) BIP3DConfig (class in robo_orchard_lab.models.bip3d.structure) BlobUuid128 (class in robo_orchard_lab.dataset.robot.db_orm.sql_types) BlobUuid64 (class in robo_orchard_lab.dataset.robot.db_orm.sql_types) blocks (robo_orchard_lab.models.modules.swin_transformer.SwinBlockSequence attribute) bn1 (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) (robo_orchard_lab.models.modules.resnet.ResNet attribute) bn2 (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) bn3 (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) bn_eval (robo_orchard_lab.models.modules.resnet.ResNet attribute) bn_frozen (robo_orchard_lab.models.modules.resnet.ResNet attribute) Bottleneck (class in robo_orchard_lab.models.modules.resnet) box_weight (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) build() (in module robo_orchard_lab.utils.build)

C

cache_dir (robo_orchard_lab.pipeline.hook_based_trainer.ResumeCheckpointConfig attribute) cache_ok (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64EncodedBLOB attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64JSONEncodedDict attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BigIntUuid64 attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid128 attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid64 attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.HexUuid128 attribute) cam_names (robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset.RoboTwinLmdbDataset attribute) camera_name (robo_orchard_lab.dataset.robotwin.robotwin_packer.RobotwinDataPacker attribute) cast_data() (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor method) CategoryGroundingDataPrepare (class in robo_orchard_lab.dataset.embodiedscan.transforms) center_distance() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils) cfg (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.mixin.ModelMixin attribute) chain (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) channel_dim (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) channel_flip (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) channel_order (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) ChannelMapper (class in robo_orchard_lab.models.modules.channel_mapper) check_fields_consistency() (in module robo_orchard_lab.dataset.datatypes.hg_features.base) chunk_size (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) (robo_orchard_lab.models.sem_modules.robot_state_encoder.SEMRobotStateEncoder attribute) clamp_max_for_overflow (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) clamp_min_for_underflow (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) class_decorator() (in module robo_orchard_lab.dataset.robotwin.close_loop_eval) class_type (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) (robo_orchard_lab.pipeline.hook_based_trainer.GradientClippingHookConfig attribute) (robo_orchard_lab.pipeline.hook_based_trainer.ValidationHookConfig attribute) (robo_orchard_lab.pipeline.hooks.checkpoint.SaveCheckpointConfig attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHookConfig attribute) (robo_orchard_lab.pipeline.hooks.loss_tracker.LossMovingAverageTrackerConfig attribute) (robo_orchard_lab.pipeline.hooks.memory.ClearCacheHookConfig attribute) (robo_orchard_lab.pipeline.hooks.metric.MetricTrackerConfig attribute) (robo_orchard_lab.pipeline.hooks.optimizer.OptimizerHookConfig attribute) (robo_orchard_lab.pipeline.hooks.stats.StatsMonitorConfig attribute) (robo_orchard_lab.pipeline.hooks.validation.ValidationHookConfig attribute) classes (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric attribute) (robo_orchard_lab.dataset.embodiedscan.transforms.CategoryGroundingDataPrepare attribute) classes_split (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric attribute) ClearCacheHook (class in robo_orchard_lab.pipeline.hooks.memory)

ClearCacheHookConfig (class in robo_orchard_lab.pipeline.hooks.memory) clip_mode (robo_orchard_lab.pipeline.hook_based_trainer.GradientClippingHookConfig attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHook attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHookConfig attribute) clip_value (robo_orchard_lab.pipeline.hook_based_trainer.GradientClippingHookConfig attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHook attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHookConfig attribute) clone_to_session() (robo_orchard_lab.dataset.robot.db_orm.base.DatasetORMBase method) close() (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataPacker method) (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb method) cls_weight (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) collate_batch_dict() (in module robo_orchard_lab.dataset.collates) column_copy() (robo_orchard_lab.dataset.robot.db_orm.base.DatasetORMBase class method) column_equal() (robo_orchard_lab.dataset.robot.db_orm.base.DatasetORMBase class method) ColumnValueUnmatchedError commit_step (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataPacker attribute) (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb attribute) COMMON_LABELS (in module robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset) compute() (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric method) compute_iou3d() (in module robo_orchard_lab.dataset.embodiedscan.metrics) compute_precision_recall_AP() (in module robo_orchard_lab.dataset.embodiedscan.metrics) compute_precision_recall_AP_multi_cls() (in module robo_orchard_lab.dataset.embodiedscan.metrics) conv1 (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) (robo_orchard_lab.models.modules.resnet.ResNet attribute) conv2 (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) conv3 (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) conv3x3() (in module robo_orchard_lab.models.modules.resnet) convert_grounding_to_cls_scores() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils) convert_weights (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer attribute) convs (robo_orchard_lab.models.modules.channel_mapper.ChannelMapper attribute) copy_with_updates() (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs method) cos (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding attribute) cost_weight_cd (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) cost_weight_wd (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) create_engine() (in module robo_orchard_lab.dataset.robot.engine) create_positive_map_label_to_token() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils) create_tables() (in module robo_orchard_lab.dataset.robot.engine) create_temp_engine() (in module robo_orchard_lab.dataset.robot.engine)

D

data_format (robo_orchard_lab.models.layers.transformer_layers.LayerScale attribute) data_preprocessor (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) data_root (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) DataFrame (class in robo_orchard_lab.dataset.robot.packaging) dataloader (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) dataset_begin_index (robo_orchard_lab.dataset.robot.db_orm.episode.Episode attribute) (robo_orchard_lab.dataset.robot.packaging.EpisodeData attribute) dataset_feature() (robo_orchard_lab.dataset.datatypes.camera.BatchCameraData class method) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataEncoded class method) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraInfo class method) (robo_orchard_lab.dataset.datatypes.camera.Distortion class method) (robo_orchard_lab.dataset.datatypes.geometry.BatchFrameTransform class method) (robo_orchard_lab.dataset.datatypes.geometry.BatchPose class method) (robo_orchard_lab.dataset.datatypes.geometry.BatchTransform3D class method) (robo_orchard_lab.dataset.datatypes.hg_features.base.ToDataFeatureMixin class method) (robo_orchard_lab.dataset.datatypes.joint_state.BatchJointsState class method) dataset_format_version (robo_orchard_lab.dataset.robot.dataset.RODataset property) dataset_length (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) DatasetORMBase (class in robo_orchard_lab.dataset.robot.db_orm.base) DatasetPackaging (class in robo_orchard_lab.dataset.robot.packaging) date (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseIndexData attribute) db_engine (robo_orchard_lab.dataset.robot.dataset.RODataset attribute) decode (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataEncodedFeature attribute) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataFeature attribute) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraInfoFeature attribute) (robo_orchard_lab.dataset.datatypes.camera.DistortionFeature attribute) (robo_orchard_lab.dataset.datatypes.geometry.BatchTransform3DFeature attribute) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.AnyTensorFeature attribute) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.TypedTensorFeature attribute) (robo_orchard_lab.dataset.datatypes.joint_state.BatchJointsStateFeature attribute) decode_box() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils) decode_example() (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataEncodedFeature method) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataFeature method) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraInfoFeature method) (robo_orchard_lab.dataset.datatypes.camera.DistortionFeature method) (robo_orchard_lab.dataset.datatypes.geometry.BatchFrameTransformFeature method) (robo_orchard_lab.dataset.datatypes.geometry.BatchPoseFeature method) (robo_orchard_lab.dataset.datatypes.geometry.BatchTransform3DFeature method) (robo_orchard_lab.dataset.datatypes.hg_features.base.FeatureDecodeMixin method) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.AnyTensorFeature method) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.TypedTensorFeature method) (robo_orchard_lab.dataset.datatypes.joint_state.BatchJointsStateFeature method) decode_pred (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxLoss attribute) decoder (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) DEFAULT_CLASSES (in module robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset)

DEFAULT_INSTRUCTIONS (robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset.RoboTwinLmdbDataset attribute) default_space (robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset.RoboTwinLmdbDataset attribute) deformable_aggregation_func() (in module robo_orchard_lab.ops.deformable_aggregation.deformable_aggregation) deformable_format() (in module robo_orchard_lab.models.bip3d.utils) DeformableDetrTransformerEncoderLayer (class in robo_orchard_lab.models.bip3d.layers) DeformableFeatureAggregation (class in robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation) DelayInitDictType (in module robo_orchard_lab.utils.build) deploy_data_process() (in module robo_orchard_lab.dataset.robotwin.close_loop_eval) depth_keys (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) depth_prob_loss() (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer method) depth_to_range_image() (in module robo_orchard_lab.utils.geometry) DepthFusionSpatialEnhancer (class in robo_orchard_lab.models.bip3d.spatial_enhancer) DepthProbLabelGenerator (class in robo_orchard_lab.dataset.embodiedscan.transforms) description (robo_orchard_lab.dataset.robot.db_orm.task.Task attribute) (robo_orchard_lab.dataset.robot.packaging.TaskData attribute) DetMetric (class in robo_orchard_lab.dataset.embodiedscan.metrics) DetrTransformerEncoderLayer (class in robo_orchard_lab.models.bip3d.layers) dilation (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) (robo_orchard_lab.models.modules.swin_transformer.AdaptivePadding attribute) dim (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding attribute) DirectoryNotEmptyError Distortion (class in robo_orchard_lab.dataset.datatypes.camera) DistortionFeature (class in robo_orchard_lab.dataset.datatypes.camera) dn_noise_scale (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) DoF9BoxEncoder (class in robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder) DoF9BoxLoss (class in robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder) double_step_seq() (robo_orchard_lab.models.modules.swin_transformer.WindowMSA static method) downsample (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) (robo_orchard_lab.models.modules.swin_transformer.SwinBlockSequence attribute) drop (robo_orchard_lab.models.modules.swin_transformer.ShiftWindowMSA attribute) drop_after_pos (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer attribute) drop_path() (in module robo_orchard_lab.models.modules.swin_transformer) drop_prob (robo_orchard_lab.models.modules.swin_transformer.DropPath attribute) drop_tables() (in module robo_orchard_lab.dataset.robot.engine) dropout (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) DropPath (class in robo_orchard_lab.models.modules.swin_transformer) dst_wh (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile attribute) (robo_orchard_lab.dataset.robotwin.transforms.Resize attribute) dtype (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataEncodedFeature attribute) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataFeature attribute) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraInfoFeature attribute) (robo_orchard_lab.dataset.datatypes.camera.DistortionFeature attribute) (robo_orchard_lab.dataset.datatypes.geometry.BatchTransform3DFeature attribute) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.TypedTensorFeature attribute) (robo_orchard_lab.dataset.datatypes.joint_state.BatchJointsStateFeature attribute) DualArmKinematics (class in robo_orchard_lab.dataset.robotwin.transforms)

E

embed_dim (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) embed_dims (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer attribute) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxEncoder attribute) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingRefineClsHead attribute) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.SparseBox3DKeyPointsGenerator attribute) (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank attribute) (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) (robo_orchard_lab.models.layers.transformer_layers.FFN attribute) (robo_orchard_lab.models.layers.transformer_layers.MultiheadAttention attribute) (robo_orchard_lab.models.modules.swin_transformer.PatchEmbed attribute) (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) (robo_orchard_lab.models.sem_modules.robot_state_encoder.SEMRobotStateEncoder attribute) EmbodiedScanDetGroundingDataset (class in robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset) embodiment (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseIndexData attribute) (robo_orchard_lab.dataset.robotwin.robotwin_packer.RobotwinDataPacker attribute) empty_cache_at (robo_orchard_lab.pipeline.hooks.memory.ClearCacheHook attribute) (robo_orchard_lab.pipeline.hooks.memory.ClearCacheHookConfig attribute) empty_cache_freq (robo_orchard_lab.pipeline.hooks.memory.ClearCacheHook attribute) (robo_orchard_lab.pipeline.hooks.memory.ClearCacheHookConfig attribute) encode_example() (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataEncodedFeature method) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataFeature method) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraInfoFeature method) (robo_orchard_lab.dataset.datatypes.camera.DistortionFeature method) (robo_orchard_lab.dataset.datatypes.geometry.BatchFrameTransformFeature method) (robo_orchard_lab.dataset.datatypes.geometry.BatchPoseFeature method) (robo_orchard_lab.dataset.datatypes.geometry.BatchTransform3DFeature method) (robo_orchard_lab.dataset.datatypes.hg_features.base.RODataFeature method) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.AnyTensorFeature method) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.TypedTensorFeature method) (robo_orchard_lab.dataset.datatypes.joint_state.BatchJointsStateFeature method)

encode_reg_target() (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget method) encoding_mode (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb attribute) env (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb attribute) Episode (class in robo_orchard_lab.dataset.robot.db_orm.episode) episode (robo_orchard_lab.dataset.robot.packaging.EpisodeMeta attribute) EpisodeData (class in robo_orchard_lab.dataset.robot.packaging) EpisodeMeta (class in robo_orchard_lab.dataset.robot.packaging) EpisodePackaging (class in robo_orchard_lab.dataset.robot.packaging) episodes (robo_orchard_lab.dataset.robotwin.robotwin_packer.RobotwinDataPacker attribute) epoch_eval_freq (robo_orchard_lab.pipeline.hook_based_trainer.ValidationHookConfig attribute) (robo_orchard_lab.pipeline.hooks.validation.ValidationHook attribute) (robo_orchard_lab.pipeline.hooks.validation.ValidationHookConfig attribute) epoch_id (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) epoch_log_freq (robo_orchard_lab.pipeline.hooks.metric.MetricTracker attribute) (robo_orchard_lab.pipeline.hooks.metric.MetricTrackerConfig attribute) (robo_orchard_lab.pipeline.hooks.stats.StatsMonitor attribute) (robo_orchard_lab.pipeline.hooks.stats.StatsMonitorConfig attribute) eps (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) (robo_orchard_lab.models.bip3d.layers.SinePositionalEncoding attribute) eval() (robo_orchard_lab.pipeline.trainer.SimpleTrainer method) eval_callback (robo_orchard_lab.pipeline.hook_based_trainer.ValidationHookConfig attribute) (robo_orchard_lab.pipeline.hooks.validation.ValidationHook attribute) (robo_orchard_lab.pipeline.hooks.validation.ValidationHookConfig attribute) eval_function() (in module robo_orchard_lab.dataset.embodiedscan.metrics) eval_part (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric attribute) evaluation() (in module robo_orchard_lab.dataset.robotwin.close_loop_eval) expansion (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) extra_convs (robo_orchard_lab.models.modules.channel_mapper.ChannelMapper attribute) extract_feat() (robo_orchard_lab.models.bip3d.structure.BIP3D method) extract_text_feature() (robo_orchard_lab.models.bip3d.structure.BIP3D method)

F

feat_dim (robo_orchard_lab.models.modules.resnet.ResNet attribute) feature_3d_dim (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) feature_enhancer (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) feature_level (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) feature_maps_format() (in module robo_orchard_lab.ops.deformable_aggregation.deformable_aggregation) FeatureDecodeMixin (class in robo_orchard_lab.dataset.datatypes.hg_features.base) features (robo_orchard_lab.dataset.robot.packaging.DataFrame attribute) (robo_orchard_lab.dataset.robot.packaging.DatasetPackaging property) feedforward_channels (robo_orchard_lab.models.layers.transformer_layers.FFN attribute) FFN (class in robo_orchard_lab.models.layers.transformer_layers) ffn (robo_orchard_lab.models.modules.swin_transformer.SwinBlock attribute) ffn_cfg (robo_orchard_lab.models.bip3d.layers.DetrTransformerEncoderLayer attribute) filter_invisible (robo_orchard_lab.dataset.embodiedscan.transforms.CategoryGroundingDataPrepare attribute) filter_others (robo_orchard_lab.dataset.embodiedscan.transforms.CategoryGroundingDataPrepare attribute) filter_outlier (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) fix_scale (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.SparseBox3DKeyPointsGenerator attribute) fk_loss_weight (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) force_kinematics (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) Format (class in robo_orchard_lab.dataset.embodiedscan.transforms) format_img_feature_maps() (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder method) format_results() (in module robo_orchard_lab.dataset.embodiedscan.metrics) forward() (robo_orchard_lab.models.bip3d.bert.BertEncoder method) (robo_orchard_lab.models.bip3d.bert.BertModel method) (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer method) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder method) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxEncoder method) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxLoss method) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingRefineClsHead method) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.SparseBox3DKeyPointsGenerator method) (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation method) (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention method) (robo_orchard_lab.models.bip3d.layers.DetrTransformerEncoderLayer method) (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention method) (robo_orchard_lab.models.bip3d.layers.SinePositionalEncoding method) (robo_orchard_lab.models.bip3d.layers.SingleScaleBiAttentionBlock method) (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer method) (robo_orchard_lab.models.bip3d.structure.BIP3D method) (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor method) (robo_orchard_lab.models.layers.data_preprocessors.GridMask method) (robo_orchard_lab.models.layers.transformer_layers.FFN method) (robo_orchard_lab.models.layers.transformer_layers.LayerScale method) (robo_orchard_lab.models.layers.transformer_layers.MLP method) (robo_orchard_lab.models.layers.transformer_layers.MultiheadAttention method) (robo_orchard_lab.models.modules.channel_mapper.ChannelMapper method) (robo_orchard_lab.models.modules.resnet.BasicBlock method) (robo_orchard_lab.models.modules.resnet.Bottleneck method) (robo_orchard_lab.models.modules.resnet.ResNet method) (robo_orchard_lab.models.modules.swin_transformer.AdaptivePadding method) (robo_orchard_lab.models.modules.swin_transformer.DropPath method) (robo_orchard_lab.models.modules.swin_transformer.PatchEmbed method) (robo_orchard_lab.models.modules.swin_transformer.PatchMerging method) (robo_orchard_lab.models.modules.swin_transformer.ShiftWindowMSA method) (robo_orchard_lab.models.modules.swin_transformer.SwinBlock method) (robo_orchard_lab.models.modules.swin_transformer.SwinBlockSequence method) (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer method) (robo_orchard_lab.models.modules.swin_transformer.WindowMSA method) (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder method) (robo_orchard_lab.models.sem_modules.layers.AdaRMSNorm method) (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention method) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention method) (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding method) (robo_orchard_lab.models.sem_modules.layers.ScalarEmbedder method) (robo_orchard_lab.models.sem_modules.layers.UpsampleHead method) (robo_orchard_lab.models.sem_modules.robot_state_encoder.SEMRobotStateEncoder method) (robo_orchard_lab.pipeline.batch_processor.simple.BatchProcessorFromCallable method) (robo_orchard_lab.pipeline.batch_processor.simple.SimpleBatchProcessor method)

forward_kinematics() (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder method) forward_layers() (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder method) frame_dataset (robo_orchard_lab.dataset.robot.dataset.RODataset attribute) frame_num (robo_orchard_lab.dataset.robot.db_orm.episode.Episode attribute) (robo_orchard_lab.dataset.robot.packaging.EpisodeData attribute) freqs (robo_orchard_lab.models.sem_modules.layers.ScalarEmbedder attribute) frequency_embedding_size (robo_orchard_lab.models.sem_modules.layers.ScalarEmbedder attribute) from_callable() (robo_orchard_lab.pipeline.batch_processor.simple.SimpleBatchProcessor static method) from_hooks() (robo_orchard_lab.pipeline.hooks.mixin.PipelineHooks class method) frozen_stages (robo_orchard_lab.models.modules.resnet.ResNet attribute) (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer attribute) fusion_fc (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) fusion_norm (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute)

G

gamma (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) gamma_l (robo_orchard_lab.models.bip3d.layers.SingleScaleBiAttentionBlock attribute) gamma_v (robo_orchard_lab.models.bip3d.layers.SingleScaleBiAttentionBlock attribute) garbage_collection (robo_orchard_lab.pipeline.hooks.memory.ClearCacheHook attribute) (robo_orchard_lab.pipeline.hooks.memory.ClearCacheHookConfig attribute) gather_all_results() (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric method) gather_device (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric attribute) generate_episode_meta() (robo_orchard_lab.dataset.robot.packaging.EpisodePackaging method) generate_frames() (robo_orchard_lab.dataset.robot.packaging.EpisodePackaging method) generate_masks_with_special_tokens_and_transfer_map() (in module robo_orchard_lab.models.bip3d.bert) get() (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb method) (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank method) (robo_orchard_lab.pipeline.hooks.metric.MetricEntry method) get_2d_position_embed() (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer method) get_accelerate_project_last_checkpoint_id() (in module robo_orchard_lab.utils.huggingface) get_column_kv() (robo_orchard_lab.dataset.robot.db_orm.base.DatasetORMBase method) get_data() (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset method) get_data_grounding() (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset method) get_dn_anchors() (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget method) get_embodiment_config() (in module robo_orchard_lab.dataset.robotwin.close_loop_eval) get_encoder_reference_points() (in module robo_orchard_lab.models.bip3d.feature_enhancer) get_entities() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils)

get_meta() (robo_orchard_lab.dataset.robot.dataset.RODataset method) get_pad_shape() (robo_orchard_lab.models.modules.swin_transformer.AdaptivePadding method) get_positive_map() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils) get_pts() (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer method) get_remote() (robo_orchard_lab.dataset.robot.db_orm.base.DatasetORMBase method) get_spatial_shape_3D() (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation method) get_text_sine_pos_embed() (in module robo_orchard_lab.models.bip3d.feature_enhancer) get_transient_orm() (robo_orchard_lab.dataset.robot.packaging.EpisodeMeta method) get_vis_imgs() (robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset.RoboTwinLmdbDataset static method) GetProjectionMat (class in robo_orchard_lab.dataset.robotwin.transforms) global_step_id (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) GradientClippingHook (class in robo_orchard_lab.pipeline.hooks.grad_clip) GradientClippingHookConfig (class in robo_orchard_lab.pipeline.hook_based_trainer) (class in robo_orchard_lab.pipeline.hooks.grad_clip) GridMask (class in robo_orchard_lab.models.layers.data_preprocessors) Grounding3DTarget (class in robo_orchard_lab.models.bip3d.grounding_decoder.target) GroundingBox3DPostProcess (class in robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder) GroundingRefineClsHead (class in robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder) group_dims (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) gt_cls_key (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) gt_reg_key (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) guess_hg_features() (in module robo_orchard_lab.dataset.datatypes.hg_features.base)

H

head (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) head_dim (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) HEAD_LABELS (in module robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset) HexUuid128 (class in robo_orchard_lab.dataset.robot.db_orm.sql_types) hg_dataset_feature() (in module robo_orchard_lab.dataset.datatypes.hg_features.base)

hist_steps (robo_orchard_lab.dataset.robotwin.transforms.SimpleStateSampling attribute) HookBasedTrainer (class in robo_orchard_lab.pipeline.hook_based_trainer) hooks (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) (robo_orchard_lab.pipeline.hooks.mixin.PipelineHooks attribute) hwc_to_chw (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute)

I

im2col_step (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) image_keys (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) images_decoding() (in module robo_orchard_lab.dataset.robotwin.robotwin_packer) img_attn_blocks (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer attribute) impl (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64EncodedBLOB attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64JSONEncodedDict attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BigIntUuid64 attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid128 attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid64 attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.HexUuid128 attribute) in_channels (robo_orchard_lab.models.modules.swin_transformer.PatchMerging attribute) in_cwd() (in module robo_orchard_lab.utils.path) index (robo_orchard_lab.dataset.robot.db_orm.episode.Episode attribute) (robo_orchard_lab.dataset.robot.db_orm.instruction.Instruction attribute) (robo_orchard_lab.dataset.robot.db_orm.robot.Robot attribute) (robo_orchard_lab.dataset.robot.db_orm.task.Task attribute) init_default_value() (robo_orchard_lab.dataset.robot.db_orm.base.DatasetORMBase method) init_weight() (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation method) (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank method) init_weights() (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder method) (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention method) (robo_orchard_lab.models.modules.resnet.ResNet method) (robo_orchard_lab.models.modules.swin_transformer.WindowMSA method) (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention method) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention method)

initialized (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) inplace (robo_orchard_lab.models.layers.transformer_layers.LayerScale attribute) inplanes (robo_orchard_lab.models.modules.resnet.ResNet attribute) input_2d (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) input_3d (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) input_fc (robo_orchard_lab.models.sem_modules.robot_state_encoder.SEMRobotStateEncoder attribute) input_key (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) input_layers (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) input_path (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataPacker attribute) input_path_handler() (robo_orchard_lab.dataset.robotwin.robotwin_packer.RobotwinDataPacker method) instance_bank (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) instance_feature (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank attribute) instance_mask_key (robo_orchard_lab.dataset.embodiedscan.transforms.CategoryGroundingDataPrepare attribute) InstanceBank (class in robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank) Instruction (class in robo_orchard_lab.dataset.robot.db_orm.instruction) instruction (robo_orchard_lab.dataset.robot.packaging.DataFrame attribute) InstructionData (class in robo_orchard_lab.dataset.robot.packaging) interval (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) inv_freq (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding attribute) iou_thresholds (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric attribute) is_empty_directory() (in module robo_orchard_lab.utils.path) is_list_of_protobuf_msg_type() (in module robo_orchard_lab.utils.protobuf) is_protobuf_msg_type() (in module robo_orchard_lab.utils.protobuf)

J

joint_relative_pos (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics property) joint_state_to_robot_state() (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics method)

JointGraphAttention (class in robo_orchard_lab.models.sem_modules.layers) json_content (robo_orchard_lab.dataset.robot.db_orm.instruction.Instruction attribute) (robo_orchard_lab.dataset.robot.packaging.InstructionData attribute)

K

k_proj (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention attribute) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention attribute) kernel_size (robo_orchard_lab.models.modules.swin_transformer.AdaptivePadding attribute)

keys (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) keys() (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb method) kwargs (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb attribute)

L

l_dim (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) l_proj (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) language_backbone (robo_orchard_lab.models.bip3d.bert.BertModel attribute) language_dim (robo_orchard_lab.models.bip3d.bert.BertEncoder attribute) layer_norm_l (robo_orchard_lab.models.bip3d.layers.SingleScaleBiAttentionBlock attribute) layer_norm_v (robo_orchard_lab.models.bip3d.layers.SingleScaleBiAttentionBlock attribute) layers (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingRefineClsHead attribute) (robo_orchard_lab.models.layers.transformer_layers.FFN attribute) (robo_orchard_lab.models.layers.transformer_layers.MLP attribute) (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) (robo_orchard_lab.models.sem_modules.robot_state_encoder.SEMRobotStateEncoder attribute) LayerScale (class in robo_orchard_lab.models.layers.transformer_layers) left_arm_joint_id (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) left_arm_link_keys (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) left_finger_keys (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) length (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64EncodedBLOB attribute) (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64JSONEncodedDict attribute) level_embed (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer attribute) linear_act_ln() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils) (in module robo_orchard_lab.models.sem_modules.layers) Lmdb (class in robo_orchard_lab.dataset.lmdb.lmdb_wrapper) lmdb_kwargs (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataPacker attribute) load_anns (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) load_data_list() (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset method) load_depth (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile attribute) (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) load_dialect_impl() (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64EncodedBLOB method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid128 method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid64 method) load_grounding_data() (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset method)

load_image (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) load_img (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile attribute) load_instructions() (robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset.RoboTwinLmdbDataset method) load_model() (robo_orchard_lab.models.mixin.ModelMixin static method) load_state() (robo_orchard_lab.pipeline.hook_based_trainer.ResumeCheckpointConfig method) load_state_dict() (robo_orchard_lab.utils.huggingface.AcceleratorState method) LoadMultiViewImageDepthFromFile (class in robo_orchard_lab.dataset.embodiedscan.transforms) log_main_process_only (robo_orchard_lab.pipeline.hooks.metric.MetricTracker attribute) (robo_orchard_lab.pipeline.hooks.metric.MetricTrackerConfig attribute) logger (in module robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset) (in module robo_orchard_lab.dataset.embodiedscan.metrics) (in module robo_orchard_lab.dataset.lmdb.base_lmdb_dataset) (in module robo_orchard_lab.dataset.lmdb.lmdb_wrapper) (in module robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset) (in module robo_orchard_lab.dataset.robotwin.robotwin_packer) (in module robo_orchard_lab.models.mixin) (in module robo_orchard_lab.models.modules.resnet) (in module robo_orchard_lab.models.modules.swin_transformer) look_forward_twice (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) loss() (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder method) (robo_orchard_lab.models.bip3d.structure.BIP3D method) (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder method) loss_cls (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) loss_depth_weight (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) loss_reg (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) loss_weight_cd (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxLoss attribute) loss_weight_wd (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxLoss attribute) LossMovingAverageTracker (class in robo_orchard_lab.pipeline.hooks.loss_tracker) LossMovingAverageTrackerConfig (class in robo_orchard_lab.pipeline.hooks.loss_tracker) LossNotProvidedError lr_scheduler (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute)

M

make_res_layer() (in module robo_orchard_lab.models.modules.resnet) make_transient_orm() (robo_orchard_lab.dataset.robot.packaging.InstructionData method) (robo_orchard_lab.dataset.robot.packaging.RobotData method) (robo_orchard_lab.dataset.robot.packaging.TaskData method) mask_points() (in module robo_orchard_lab.utils.geometry) MAX_CLAMP_VALUE (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) max_class (robo_orchard_lab.dataset.embodiedscan.transforms.CategoryGroundingDataPrepare attribute) max_depth (robo_orchard_lab.dataset.embodiedscan.transforms.DepthProbLabelGenerator attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) max_epoch (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) max_norm (robo_orchard_lab.pipeline.hook_based_trainer.GradientClippingHookConfig attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHook attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHookConfig attribute) max_num_views (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile attribute) max_period (robo_orchard_lab.models.sem_modules.layers.ScalarEmbedder attribute) max_position_embeddings (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding attribute) max_refetch (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) max_seq_len_cached (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding attribute) max_step (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) max_tokens (robo_orchard_lab.models.bip3d.bert.BertModel attribute) max_valid_depth (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) maxpool (robo_orchard_lab.models.modules.resnet.ResNet attribute) md5 (robo_orchard_lab.dataset.robot.db_orm.instruction.Instruction attribute) (robo_orchard_lab.dataset.robot.db_orm.md5.MD5FieldMixin attribute) (robo_orchard_lab.dataset.robot.db_orm.robot.Robot attribute) (robo_orchard_lab.dataset.robot.db_orm.task.Task attribute) MD5FieldMixin (class in robo_orchard_lab.dataset.robot.db_orm.md5) mean (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) merge_grounding_data() (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset method) MetaType (in module robo_orchard_lab.dataset.robot.dataset) metric (robo_orchard_lab.pipeline.hooks.metric.MetricEntry attribute) (robo_orchard_lab.pipeline.trainer.SimpleTrainer attribute) metric_entrys (robo_orchard_lab.pipeline.hooks.metric.MetricTracker attribute) (robo_orchard_lab.pipeline.hooks.metric.MetricTrackerConfig attribute) MetricEntry (class in robo_orchard_lab.pipeline.hooks.metric) metrics (robo_orchard_lab.pipeline.hooks.metric.MetricTracker attribute) MetricTracker (class in robo_orchard_lab.pipeline.hooks.metric) MetricTrackerConfig (class in robo_orchard_lab.pipeline.hooks.metric) min_depth (robo_orchard_lab.dataset.embodiedscan.transforms.DepthProbLabelGenerator attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) MLP (class in robo_orchard_lab.models.layers.transformer_layers) mlp (robo_orchard_lab.models.sem_modules.layers.ScalarEmbedder attribute) mode (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) model (robo_orchard_lab.models.bip3d.bert.BertEncoder attribute) (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) model_config (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseIndexData attribute) model_outputs (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) ModelMixin (class in robo_orchard_lab.models.mixin) module robo_orchard_lab robo_orchard_lab.dataset robo_orchard_lab.dataset.collates robo_orchard_lab.dataset.datatypes robo_orchard_lab.dataset.datatypes.camera robo_orchard_lab.dataset.datatypes.geometry robo_orchard_lab.dataset.datatypes.hg_features robo_orchard_lab.dataset.datatypes.hg_features.base robo_orchard_lab.dataset.datatypes.hg_features.tensor robo_orchard_lab.dataset.datatypes.joint_state robo_orchard_lab.dataset.embodiedscan robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset robo_orchard_lab.dataset.embodiedscan.metrics robo_orchard_lab.dataset.embodiedscan.transforms robo_orchard_lab.dataset.embodiedscan.utils robo_orchard_lab.dataset.lmdb robo_orchard_lab.dataset.lmdb.base_lmdb_dataset robo_orchard_lab.dataset.lmdb.lmdb_wrapper robo_orchard_lab.dataset.robot robo_orchard_lab.dataset.robot.dataset robo_orchard_lab.dataset.robot.db_orm robo_orchard_lab.dataset.robot.db_orm.base robo_orchard_lab.dataset.robot.db_orm.episode robo_orchard_lab.dataset.robot.db_orm.instruction robo_orchard_lab.dataset.robot.db_orm.md5 robo_orchard_lab.dataset.robot.db_orm.robot robo_orchard_lab.dataset.robot.db_orm.sql_types robo_orchard_lab.dataset.robot.db_orm.task robo_orchard_lab.dataset.robot.engine robo_orchard_lab.dataset.robot.packaging robo_orchard_lab.dataset.robotwin robo_orchard_lab.dataset.robotwin.close_loop_eval robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset robo_orchard_lab.dataset.robotwin.robotwin_packer robo_orchard_lab.dataset.robotwin.transforms robo_orchard_lab.distributed robo_orchard_lab.distributed.utils robo_orchard_lab.metrics robo_orchard_lab.models robo_orchard_lab.models.bip3d robo_orchard_lab.models.bip3d.bert robo_orchard_lab.models.bip3d.feature_enhancer robo_orchard_lab.models.bip3d.grounding_decoder robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank robo_orchard_lab.models.bip3d.grounding_decoder.target robo_orchard_lab.models.bip3d.grounding_decoder.utils robo_orchard_lab.models.bip3d.layers robo_orchard_lab.models.bip3d.spatial_enhancer robo_orchard_lab.models.bip3d.structure robo_orchard_lab.models.bip3d.utils robo_orchard_lab.models.layers robo_orchard_lab.models.layers.data_preprocessors robo_orchard_lab.models.layers.transformer_layers robo_orchard_lab.models.mixin robo_orchard_lab.models.modules robo_orchard_lab.models.modules.channel_mapper robo_orchard_lab.models.modules.resnet robo_orchard_lab.models.modules.swin_transformer robo_orchard_lab.models.sem_modules robo_orchard_lab.models.sem_modules.action_decoder robo_orchard_lab.models.sem_modules.layers robo_orchard_lab.models.sem_modules.robot_state_encoder robo_orchard_lab.ops robo_orchard_lab.ops.deformable_aggregation robo_orchard_lab.ops.deformable_aggregation.deformable_aggregation robo_orchard_lab.pipeline robo_orchard_lab.pipeline.batch_processor robo_orchard_lab.pipeline.batch_processor.mixin robo_orchard_lab.pipeline.batch_processor.simple robo_orchard_lab.pipeline.hook_based_trainer robo_orchard_lab.pipeline.hooks robo_orchard_lab.pipeline.hooks.checkpoint robo_orchard_lab.pipeline.hooks.grad_clip robo_orchard_lab.pipeline.hooks.loss_tracker robo_orchard_lab.pipeline.hooks.memory robo_orchard_lab.pipeline.hooks.metric robo_orchard_lab.pipeline.hooks.mixin robo_orchard_lab.pipeline.hooks.optimizer robo_orchard_lab.pipeline.hooks.stats robo_orchard_lab.pipeline.hooks.validation robo_orchard_lab.pipeline.trainer robo_orchard_lab.transforms robo_orchard_lab.utils robo_orchard_lab.utils.build robo_orchard_lab.utils.env robo_orchard_lab.utils.geometry robo_orchard_lab.utils.huggingface robo_orchard_lab.utils.logging robo_orchard_lab.utils.misc robo_orchard_lab.utils.path robo_orchard_lab.utils.protobuf robo_orchard_lab.utils.pydantic robo_orchard_lab.version

MultiheadAttention (class in robo_orchard_lab.models.layers.transformer_layers) MultiScaleDeformableAttention (class in robo_orchard_lab.models.bip3d.layers)

N

name (robo_orchard_lab.dataset.robot.db_orm.instruction.Instruction attribute) (robo_orchard_lab.dataset.robot.db_orm.robot.Robot attribute) (robo_orchard_lab.dataset.robot.db_orm.task.Task attribute) (robo_orchard_lab.dataset.robot.packaging.InstructionData attribute) (robo_orchard_lab.dataset.robot.packaging.RobotData attribute) (robo_orchard_lab.dataset.robot.packaging.TaskData attribute) (robo_orchard_lab.models.bip3d.bert.BertModel attribute) names (robo_orchard_lab.pipeline.hooks.metric.MetricEntry attribute) neck (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) neck_3d (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) need_backward (robo_orchard_lab.pipeline.batch_processor.simple.SimpleBatchProcessor attribute) need_eval() (robo_orchard_lab.pipeline.hooks.validation.ValidationHook method) next_episode() (robo_orchard_lab.dataset.robot.db_orm.episode.Episode method) norm (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) (robo_orchard_lab.models.modules.swin_transformer.PatchEmbed attribute) (robo_orchard_lab.models.modules.swin_transformer.PatchMerging attribute) norm1 (robo_orchard_lab.models.modules.swin_transformer.SwinBlock attribute) norm2 (robo_orchard_lab.models.modules.swin_transformer.SwinBlock attribute) norm_act_idx (robo_orchard_lab.models.sem_modules.layers.UpsampleHead attribute) norm_cfg (robo_orchard_lab.models.bip3d.layers.DetrTransformerEncoderLayer attribute) (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) norm_type (robo_orchard_lab.pipeline.hook_based_trainer.GradientClippingHookConfig attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHook attribute) (robo_orchard_lab.pipeline.hooks.grad_clip.GradientClippingHookConfig attribute) normalize (robo_orchard_lab.models.bip3d.layers.SinePositionalEncoding attribute) num_anchor (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank attribute) num_cams (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) num_decoder (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) num_depth (robo_orchard_lab.dataset.embodiedscan.transforms.DepthProbLabelGenerator attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute)

num_depth_layers (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) num_dn (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) num_episode_ (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) num_fcs (robo_orchard_lab.models.layers.transformer_layers.FFN attribute) num_feats (robo_orchard_lab.models.bip3d.layers.SinePositionalEncoding attribute) num_feature_levels (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer attribute) num_features (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer attribute) num_groups (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) num_heads (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) (robo_orchard_lab.models.layers.transformer_layers.MultiheadAttention attribute) (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention attribute) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention attribute) num_inference_timesteps (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) num_layers (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer attribute) (robo_orchard_lab.models.layers.transformer_layers.MLP attribute) num_layers_of_embedded (robo_orchard_lab.models.bip3d.bert.BertEncoder attribute) num_learnable_pts (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.SparseBox3DKeyPointsGenerator attribute) num_levels (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) num_output (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingBox3DPostProcess attribute) num_points (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) num_pts (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.SparseBox3DKeyPointsGenerator attribute) num_single_frame_decoder (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) num_steps (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseIndexData attribute) num_test_traj (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) num_text (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) num_train_timesteps (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) num_views (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile attribute)

O

offset (robo_orchard_lab.models.bip3d.layers.SinePositionalEncoding attribute) (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) op_config_map (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) (robo_orchard_lab.models.sem_modules.robot_state_encoder.SEMRobotStateEncoder attribute) open() (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb method) open_lmdb() (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb method) operation_order (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) (robo_orchard_lab.models.sem_modules.robot_state_encoder.SEMRobotStateEncoder attribute) optimizer (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) OptimizerHook (class in robo_orchard_lab.pipeline.hooks.optimizer)

OptimizerHookConfig (class in robo_orchard_lab.pipeline.hooks.optimizer) origin_stride (robo_orchard_lab.dataset.embodiedscan.transforms.DepthProbLabelGenerator attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) out_channels (robo_orchard_lab.models.modules.swin_transformer.PatchMerging attribute) out_indices (robo_orchard_lab.models.modules.resnet.ResNet attribute) (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer attribute) out_l_proj (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) out_v_proj (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) output_dim (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingRefineClsHead attribute) output_key (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) output_path (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataPacker attribute) output_proj (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute)

P

pa_type (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataEncodedFeature property) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraDataFeature property) (robo_orchard_lab.dataset.datatypes.camera.BatchCameraInfoFeature property) (robo_orchard_lab.dataset.datatypes.camera.DistortionFeature property) (robo_orchard_lab.dataset.datatypes.geometry.BatchFrameTransformFeature property) (robo_orchard_lab.dataset.datatypes.geometry.BatchPoseFeature property) (robo_orchard_lab.dataset.datatypes.geometry.BatchTransform3DFeature property) (robo_orchard_lab.dataset.datatypes.hg_features.base.RODataFeature property) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.AnyTensorFeature property) (robo_orchard_lab.dataset.datatypes.hg_features.tensor.TypedTensorFeature property) (robo_orchard_lab.dataset.datatypes.joint_state.BatchJointsStateFeature property) packaging() (robo_orchard_lab.dataset.robot.packaging.DatasetPackaging method) pad_to_max (robo_orchard_lab.models.bip3d.bert.BertModel attribute) padding (robo_orchard_lab.models.modules.swin_transformer.AdaptivePadding attribute) parse_ann_info() (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset method) parse_data_info() (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset method) parser (in module robo_orchard_lab.dataset.robotwin.robotwin_packer) part (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) patch_embed (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer attribute) PatchEmbed (class in robo_orchard_lab.models.modules.swin_transformer) PatchMerging (class in robo_orchard_lab.models.modules.swin_transformer) paths (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) PipelineHookArgs (class in robo_orchard_lab.pipeline.hooks.mixin) PipelineHookChanelType (in module robo_orchard_lab.pipeline.hooks.mixin) PipelineHookOrConfigType (in module robo_orchard_lab.pipeline.hook_based_trainer) PipelineHooks (class in robo_orchard_lab.pipeline.hooks.mixin) PipelineHooksConfig (class in robo_orchard_lab.pipeline.hooks.mixin) pk_bytes() (robo_orchard_lab.dataset.robot.db_orm.base.PrimaryKeyMixin class method) pk_copy() (robo_orchard_lab.dataset.robot.db_orm.base.PrimaryKeyMixin class method) pk_equal() (robo_orchard_lab.dataset.robot.db_orm.base.PrimaryKeyMixin class method) pk_scalar() (robo_orchard_lab.dataset.robot.db_orm.base.PrimaryKeyMixin class method) pk_value_in() (robo_orchard_lab.dataset.robot.db_orm.base.PrimaryKeyMixin class method) pos_fc (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxEncoder attribute) position_encoder (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention attribute) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention attribute) positional_encoding (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer attribute) post_process() (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder method) (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder method) post_processor (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) pre_norm (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) (robo_orchard_lab.models.sem_modules.robot_state_encoder.SEMRobotStateEncoder attribute)

pre_spatial_enhancer (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) pred_steps (robo_orchard_lab.dataset.robotwin.transforms.SimpleStateSampling attribute) (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) predict() (robo_orchard_lab.models.bip3d.structure.BIP3D method) prediction_type (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) prepare_for_dn_loss() (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder method) preserved_index_keys (robo_orchard_lab.dataset.robot.packaging.DatasetPackaging attribute) prev_episode() (robo_orchard_lab.dataset.robot.db_orm.episode.Episode method) prev_episode_index (robo_orchard_lab.dataset.robot.db_orm.episode.Episode attribute) (robo_orchard_lab.dataset.robot.packaging.EpisodeData attribute) primary_key_names() (robo_orchard_lab.dataset.robot.db_orm.base.PrimaryKeyMixin class method) PrimaryKeyMixin (class in robo_orchard_lab.dataset.robot.db_orm.base) prob (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) process_bind_param() (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64EncodedBLOB method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64JSONEncodedDict method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BigIntUuid64 method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid128 method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid64 method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.HexUuid128 method) process_img() (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor method) process_result_value() (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64EncodedBLOB method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.Base64JSONEncodedDict method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BigIntUuid64 method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid128 method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.BlobUuid64 method) (robo_orchard_lab.dataset.robot.db_orm.sql_types.HexUuid128 method) proj (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention attribute) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention attribute) proj_drop (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) (robo_orchard_lab.models.layers.transformer_layers.MultiheadAttention attribute) (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) project_points() (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation static method) projection (robo_orchard_lab.models.modules.swin_transformer.PatchEmbed attribute) pts_fc (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) pts_prob_fc (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) put_idx (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb attribute) pydantic_deserialize_with_pickle() (in module robo_orchard_lab.utils.pydantic) pydantic_serialize_with_pickle() (in module robo_orchard_lab.utils.pydantic)

Q

q_proj (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention attribute) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention attribute) qkv (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute)

query_by_content_with_md5() (robo_orchard_lab.dataset.robot.db_orm.instruction.Instruction static method) (robo_orchard_lab.dataset.robot.db_orm.md5.MD5FieldMixin static method) (robo_orchard_lab.dataset.robot.db_orm.robot.Robot static method) (robo_orchard_lab.dataset.robot.db_orm.task.Task static method)

R

random_crop() (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile method) random_crop_range (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile attribute) ratio (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) read() (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb method) recompute() (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder method) reduce_loss (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) reduce_mean() (in module robo_orchard_lab.distributed.utils) reduction (robo_orchard_lab.models.modules.swin_transformer.PatchMerging attribute) refine_state (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingRefineClsHead attribute) register_hook() (robo_orchard_lab.pipeline.hooks.mixin.PipelineHooks method) register_pipeline_hooks() (robo_orchard_lab.pipeline.hooks.mixin.PipelineHooks method) register_table_mapper() (in module robo_orchard_lab.dataset.robot.db_orm.base) relative_position_bias_table (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) relu (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) (robo_orchard_lab.models.modules.resnet.ResNet attribute) remove_dontcare (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) res_layers (robo_orchard_lab.models.modules.resnet.ResNet attribute) reset() (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric method) (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb method) (robo_orchard_lab.pipeline.hooks.loss_tracker.LossMovingAverageTracker method) reset_by (robo_orchard_lab.pipeline.hooks.metric.MetricTracker attribute) (robo_orchard_lab.pipeline.hooks.metric.MetricTrackerConfig attribute) reset_freq (robo_orchard_lab.pipeline.hooks.metric.MetricTracker attribute) (robo_orchard_lab.pipeline.hooks.metric.MetricTrackerConfig attribute) residual_mode (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) Resize (class in robo_orchard_lab.dataset.robotwin.transforms) resize() (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile method) (robo_orchard_lab.dataset.robotwin.transforms.Resize method) ResNet (class in robo_orchard_lab.models.modules.resnet) resume_from (robo_orchard_lab.pipeline.hook_based_trainer.ResumeCheckpointConfig attribute) ResumeCheckpointConfig (class in robo_orchard_lab.pipeline.hook_based_trainer) return_tokenized (robo_orchard_lab.models.bip3d.bert.BertModel attribute) right_arm_joint_id (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) right_arm_link_keys (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) right_finger_keys (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) robo_orchard_lab module robo_orchard_lab.dataset module robo_orchard_lab.dataset.collates module robo_orchard_lab.dataset.datatypes module robo_orchard_lab.dataset.datatypes.camera module robo_orchard_lab.dataset.datatypes.geometry module robo_orchard_lab.dataset.datatypes.hg_features module robo_orchard_lab.dataset.datatypes.hg_features.base module robo_orchard_lab.dataset.datatypes.hg_features.tensor module robo_orchard_lab.dataset.datatypes.joint_state module robo_orchard_lab.dataset.embodiedscan module robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset module robo_orchard_lab.dataset.embodiedscan.metrics module robo_orchard_lab.dataset.embodiedscan.transforms module robo_orchard_lab.dataset.embodiedscan.utils module robo_orchard_lab.dataset.lmdb module robo_orchard_lab.dataset.lmdb.base_lmdb_dataset module robo_orchard_lab.dataset.lmdb.lmdb_wrapper module robo_orchard_lab.dataset.robot module robo_orchard_lab.dataset.robot.dataset module robo_orchard_lab.dataset.robot.db_orm module robo_orchard_lab.dataset.robot.db_orm.base module robo_orchard_lab.dataset.robot.db_orm.episode module robo_orchard_lab.dataset.robot.db_orm.instruction module robo_orchard_lab.dataset.robot.db_orm.md5 module robo_orchard_lab.dataset.robot.db_orm.robot module robo_orchard_lab.dataset.robot.db_orm.sql_types module robo_orchard_lab.dataset.robot.db_orm.task module robo_orchard_lab.dataset.robot.engine module robo_orchard_lab.dataset.robot.packaging module robo_orchard_lab.dataset.robotwin module robo_orchard_lab.dataset.robotwin.close_loop_eval module robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset module robo_orchard_lab.dataset.robotwin.robotwin_packer module robo_orchard_lab.dataset.robotwin.transforms module robo_orchard_lab.distributed module robo_orchard_lab.distributed.utils module robo_orchard_lab.metrics module robo_orchard_lab.models module robo_orchard_lab.models.bip3d module robo_orchard_lab.models.bip3d.bert module robo_orchard_lab.models.bip3d.feature_enhancer module robo_orchard_lab.models.bip3d.grounding_decoder module

robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder module robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation module robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank module robo_orchard_lab.models.bip3d.grounding_decoder.target module robo_orchard_lab.models.bip3d.grounding_decoder.utils module robo_orchard_lab.models.bip3d.layers module robo_orchard_lab.models.bip3d.spatial_enhancer module robo_orchard_lab.models.bip3d.structure module robo_orchard_lab.models.bip3d.utils module robo_orchard_lab.models.layers module robo_orchard_lab.models.layers.data_preprocessors module robo_orchard_lab.models.layers.transformer_layers module robo_orchard_lab.models.mixin module robo_orchard_lab.models.modules module robo_orchard_lab.models.modules.channel_mapper module robo_orchard_lab.models.modules.resnet module robo_orchard_lab.models.modules.swin_transformer module robo_orchard_lab.models.sem_modules module robo_orchard_lab.models.sem_modules.action_decoder module robo_orchard_lab.models.sem_modules.layers module robo_orchard_lab.models.sem_modules.robot_state_encoder module robo_orchard_lab.ops module robo_orchard_lab.ops.deformable_aggregation module robo_orchard_lab.ops.deformable_aggregation.deformable_aggregation module robo_orchard_lab.pipeline module robo_orchard_lab.pipeline.batch_processor module robo_orchard_lab.pipeline.batch_processor.mixin module robo_orchard_lab.pipeline.batch_processor.simple module robo_orchard_lab.pipeline.hook_based_trainer module robo_orchard_lab.pipeline.hooks module robo_orchard_lab.pipeline.hooks.checkpoint module robo_orchard_lab.pipeline.hooks.grad_clip module robo_orchard_lab.pipeline.hooks.loss_tracker module robo_orchard_lab.pipeline.hooks.memory module robo_orchard_lab.pipeline.hooks.metric module robo_orchard_lab.pipeline.hooks.mixin module robo_orchard_lab.pipeline.hooks.optimizer module robo_orchard_lab.pipeline.hooks.stats module robo_orchard_lab.pipeline.hooks.validation module robo_orchard_lab.pipeline.trainer module robo_orchard_lab.transforms module robo_orchard_lab.utils module robo_orchard_lab.utils.build module robo_orchard_lab.utils.env module robo_orchard_lab.utils.geometry module robo_orchard_lab.utils.huggingface module robo_orchard_lab.utils.logging module robo_orchard_lab.utils.misc module robo_orchard_lab.utils.path module robo_orchard_lab.utils.protobuf module robo_orchard_lab.utils.pydantic module robo_orchard_lab.version module Robot (class in robo_orchard_lab.dataset.robot.db_orm.robot) robot (robo_orchard_lab.dataset.robot.packaging.EpisodeMeta attribute) robot() (robo_orchard_lab.dataset.robot.db_orm.episode.Episode method) robot_encoder (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) robot_index (robo_orchard_lab.dataset.robot.db_orm.episode.Episode attribute) RobotData (class in robo_orchard_lab.dataset.robot.packaging) robotwin_aug (robo_orchard_lab.dataset.robotwin.robotwin_packer.RobotwinDataPacker attribute) RobotwinDataPacker (class in robo_orchard_lab.dataset.robotwin.robotwin_packer) RoboTwinLmdbDataset (class in robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset) RODataFeature (class in robo_orchard_lab.dataset.datatypes.hg_features.base) RODataset (class in robo_orchard_lab.dataset.robot.dataset) rot_dims (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxEncoder attribute) RotaryAttention (class in robo_orchard_lab.models.sem_modules.layers) RotaryEmbedding (class in robo_orchard_lab.models.sem_modules.layers) rotate (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) rotate_3rscan (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile attribute) rotate_half() (in module robo_orchard_lab.models.sem_modules.layers) rotation_3d_in_euler() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils)

S

safe_serialization (robo_orchard_lab.pipeline.hook_based_trainer.ResumeCheckpointConfig attribute) sample() (in module robo_orchard_lab.dataset.embodiedscan.utils) (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget method) sample_mode (robo_orchard_lab.dataset.embodiedscan.transforms.LoadMultiViewImageDepthFromFile attribute) sampler (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) (robo_orchard_lab.models.modules.swin_transformer.PatchMerging attribute) sampling_offsets (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) save_anchor() (robo_orchard_lab.models.bip3d.grounding_decoder.instance_bank.InstanceBank method) save_epoch_freq (robo_orchard_lab.pipeline.hooks.checkpoint.SaveCheckpoint attribute) (robo_orchard_lab.pipeline.hooks.checkpoint.SaveCheckpointConfig attribute) save_metadata() (robo_orchard_lab.models.bip3d.bert.BertModel method) (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder method) save_model() (robo_orchard_lab.models.bip3d.structure.BIP3D method) (robo_orchard_lab.models.mixin.ModelMixin method) save_result_path (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric attribute) save_root (robo_orchard_lab.pipeline.hooks.checkpoint.SaveCheckpoint attribute) (robo_orchard_lab.pipeline.hooks.checkpoint.SaveCheckpointConfig attribute) save_step_freq (robo_orchard_lab.pipeline.hooks.checkpoint.SaveCheckpoint attribute) (robo_orchard_lab.pipeline.hooks.checkpoint.SaveCheckpointConfig attribute) SaveCheckpoint (class in robo_orchard_lab.pipeline.hooks.checkpoint) SaveCheckpointConfig (class in robo_orchard_lab.pipeline.hooks.checkpoint) ScalarEmbedder (class in robo_orchard_lab.models.sem_modules.layers) scale (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingRefineClsHead attribute) (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) (robo_orchard_lab.models.bip3d.layers.SinePositionalEncoding attribute) (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention attribute) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention attribute) scaling_factor (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding attribute) score_threshold (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingBox3DPostProcess attribute) self_attn_cfg (robo_orchard_lab.models.bip3d.layers.DetrTransformerEncoderLayer attribute) SEMActionDecoder (class in robo_orchard_lab.models.sem_modules.action_decoder) SEMRobotStateEncoder (class in robo_orchard_lab.models.sem_modules.robot_state_encoder) sep_token (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) (robo_orchard_lab.dataset.embodiedscan.transforms.CategoryGroundingDataPrepare attribute) set_env() (in module robo_orchard_lab.utils.env) share_dir (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric attribute) shift_size (robo_orchard_lab.models.modules.swin_transformer.ShiftWindowMSA attribute) ShiftWindowMSA (class in robo_orchard_lab.models.modules.swin_transformer) SimpleBatchProcessor (class in robo_orchard_lab.pipeline.batch_processor.simple) SimpleStateSampling (class in robo_orchard_lab.dataset.robotwin.transforms) SimpleTrainer (class in robo_orchard_lab.pipeline.trainer)

simulation (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseIndexData attribute) (robo_orchard_lab.dataset.robotwin.robotwin_packer.RobotwinDataPacker attribute) sin (robo_orchard_lab.models.sem_modules.layers.RotaryEmbedding attribute) SinePositionalEncoding (class in robo_orchard_lab.models.bip3d.layers) SingleScaleBiAttentionBlock (class in robo_orchard_lab.models.bip3d.layers) size_fc (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxEncoder attribute) softmax (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) sorted (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.GroundingBox3DPostProcess attribute) SparseBox3DKeyPointsGenerator (class in robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder) spatial_enhancer (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) st_prob (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) stable_softmax_2d (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) stack_batch() (in module robo_orchard_lab.utils.misc) stages (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer attribute) start_epoch (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) start_step (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) state_dict() (robo_orchard_lab.utils.huggingface.AcceleratorState method) state_loss_weights (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) StatsMonitor (class in robo_orchard_lab.pipeline.hooks.stats) StatsMonitorConfig (class in robo_orchard_lab.pipeline.hooks.stats) std (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) step_eval_freq (robo_orchard_lab.pipeline.hook_based_trainer.ValidationHookConfig attribute) (robo_orchard_lab.pipeline.hooks.validation.ValidationHook attribute) (robo_orchard_lab.pipeline.hooks.validation.ValidationHookConfig attribute) step_id (robo_orchard_lab.pipeline.hooks.mixin.PipelineHookArgs attribute) step_log_freq (robo_orchard_lab.pipeline.hooks.loss_tracker.LossMovingAverageTracker attribute) (robo_orchard_lab.pipeline.hooks.loss_tracker.LossMovingAverageTrackerConfig attribute) (robo_orchard_lab.pipeline.hooks.metric.MetricTracker attribute) (robo_orchard_lab.pipeline.hooks.metric.MetricTrackerConfig attribute) (robo_orchard_lab.pipeline.hooks.stats.StatsMonitor attribute) (robo_orchard_lab.pipeline.hooks.stats.StatsMonitorConfig attribute) steps_per_epoch (robo_orchard_lab.pipeline.hooks.stats.StatsMonitor attribute) (robo_orchard_lab.pipeline.hooks.stats.StatsMonitorConfig attribute) stride (robo_orchard_lab.dataset.embodiedscan.transforms.DepthProbLabelGenerator attribute) (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) (robo_orchard_lab.models.modules.swin_transformer.AdaptivePadding attribute) style (robo_orchard_lab.models.modules.resnet.ResNet attribute) SwinBlock (class in robo_orchard_lab.models.modules.swin_transformer) SwinBlockSequence (class in robo_orchard_lab.models.modules.swin_transformer) SwinTransformer (class in robo_orchard_lab.models.modules.swin_transformer)

T

T (in module robo_orchard_lab.dataset.robot.db_orm.md5) (in module robo_orchard_lab.utils.protobuf) T_base2ego (robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset.RoboTwinLmdbDataset attribute) T_base2world (robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset.RoboTwinLmdbDataset attribute) t_embed (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) TAIL_LABELS (in module robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset) target_coordinate (robo_orchard_lab.dataset.robotwin.transforms.GetProjectionMat attribute) Task (class in robo_orchard_lab.dataset.robot.db_orm.task) task (robo_orchard_lab.dataset.robot.packaging.EpisodeMeta attribute) task() (robo_orchard_lab.dataset.robot.db_orm.episode.Episode method) task_index (robo_orchard_lab.dataset.robot.db_orm.episode.Episode attribute) task_name (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseIndexData attribute) task_names (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) (robo_orchard_lab.dataset.robotwin.robotwin_packer.RobotwinDataPacker attribute) task_prefix (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.BBox3DDecoder attribute) TaskData (class in robo_orchard_lab.dataset.robot.packaging) temperature (robo_orchard_lab.models.bip3d.layers.SinePositionalEncoding attribute) test_mode (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) test_noise_scheduler (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) text_attn_blocks (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer attribute) text_encoder (robo_orchard_lab.models.bip3d.structure.BIP3D attribute) (robo_orchard_lab.models.bip3d.structure.BIP3DConfig attribute) text_img_attn_blocks (robo_orchard_lab.models.bip3d.feature_enhancer.TextImageDeformable2DEnhancer attribute)

TextImageDeformable2DEnhancer (class in robo_orchard_lab.models.bip3d.feature_enhancer) timestamp_ns_max (robo_orchard_lab.dataset.robot.packaging.DataFrame attribute) timestamp_ns_min (robo_orchard_lab.dataset.robot.packaging.DataFrame attribute) to_2tuple() (in module robo_orchard_lab.models.modules.swin_transformer) to_tensor() (in module robo_orchard_lab.utils.misc) ToDataFeatureMixin (class in robo_orchard_lab.dataset.datatypes.hg_features.base) tokenizer (robo_orchard_lab.models.bip3d.bert.BertModel attribute) tokens_positive_rebuild (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) TorchModuleCfg (class in robo_orchard_lab.models.mixin) TorchModuleCfgType_co (in module robo_orchard_lab.models.mixin) TorchNNModuleTypeCo (in module robo_orchard_lab.models.mixin) total_batch_size (robo_orchard_lab.pipeline.hooks.stats.StatsMonitor attribute) ToTensor (class in robo_orchard_lab.dataset.robotwin.transforms) train() (robo_orchard_lab.models.modules.resnet.ResNet method) (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer method) trainer_progress_state (robo_orchard_lab.pipeline.hook_based_trainer.HookBasedTrainer attribute) training (robo_orchard_lab.dataset.embodiedscan.transforms.CategoryGroundingDataPrepare attribute) training_noise_scheduler (robo_orchard_lab.models.sem_modules.action_decoder.SEMActionDecoder attribute) transform (robo_orchard_lab.pipeline.batch_processor.simple.SimpleBatchProcessor attribute) transforms (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset attribute) txn (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb attribute) TypedTensorFeature (class in robo_orchard_lab.dataset.datatypes.hg_features.tensor)

U

unregister_all() (robo_orchard_lab.pipeline.hooks.mixin.PipelineHooks method) unsqueeze_depth_channel (robo_orchard_lab.models.layers.data_preprocessors.BaseDataPreprocessor attribute) update() (robo_orchard_lab.dataset.embodiedscan.metrics.DetMetric method) update_md5() (robo_orchard_lab.dataset.robot.db_orm.instruction.Instruction method) (robo_orchard_lab.dataset.robot.db_orm.md5.MD5FieldMixin method) (robo_orchard_lab.dataset.robot.db_orm.robot.Robot method) (robo_orchard_lab.dataset.robot.db_orm.task.Task method) update_metric() (robo_orchard_lab.pipeline.hooks.metric.MetricTracker method) update_task_config() (in module robo_orchard_lab.dataset.robotwin.close_loop_eval) UpsampleHead (class in robo_orchard_lab.models.sem_modules.layers) upsamples (robo_orchard_lab.models.sem_modules.layers.UpsampleHead attribute)

urdf (robo_orchard_lab.dataset.robotwin.transforms.DualArmKinematics attribute) urdf_content (robo_orchard_lab.dataset.robot.db_orm.robot.Robot attribute) (robo_orchard_lab.dataset.robot.packaging.RobotData attribute) uri (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb attribute) use_abs_pos_embed (robo_orchard_lab.models.modules.swin_transformer.SwinTransformer attribute) use_h (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) use_ignore_mask (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) use_reentrant (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) use_sub_sentence_represent (robo_orchard_lab.models.bip3d.bert.BertModel attribute) use_w (robo_orchard_lab.models.layers.data_preprocessors.GridMask attribute) user (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseIndexData attribute) uuid (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseIndexData attribute)

V

v_dim (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) v_proj (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) (robo_orchard_lab.models.sem_modules.layers.JointGraphAttention attribute) (robo_orchard_lab.models.sem_modules.layers.RotaryAttention attribute) valid_threshold (robo_orchard_lab.models.bip3d.spatial_enhancer.BatchDepthProbGTGenerator attribute) ValidationHook (class in robo_orchard_lab.pipeline.hooks.validation) ValidationHookConfig (class in robo_orchard_lab.pipeline.hook_based_trainer) (class in robo_orchard_lab.pipeline.hooks.validation)

value_in() (robo_orchard_lab.dataset.robot.db_orm.base.PrimaryKeyMixin class method) value_proj (robo_orchard_lab.models.bip3d.layers.MultiScaleDeformableAttention attribute) values_l_proj (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) values_v_proj (robo_orchard_lab.models.bip3d.layers.BiMultiHeadAttention attribute) vg_file (robo_orchard_lab.dataset.embodiedscan.embodiedscan_det_grounding_dataset.EmbodiedScanDetGroundingDataset attribute) visualize() (in module robo_orchard_lab.dataset.robotwin.close_loop_eval) (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataset method) (robo_orchard_lab.dataset.robotwin.robotwin_lmdb_dataset.RoboTwinLmdbDataset method)

W

w_msa (robo_orchard_lab.models.modules.swin_transformer.ShiftWindowMSA attribute) wasserstein_distance() (in module robo_orchard_lab.models.bip3d.grounding_decoder.utils) weight (robo_orchard_lab.models.layers.transformer_layers.LayerScale attribute) window_partition() (robo_orchard_lab.models.modules.swin_transformer.ShiftWindowMSA method) window_reverse() (robo_orchard_lab.models.modules.swin_transformer.ShiftWindowMSA method) window_size (robo_orchard_lab.models.modules.swin_transformer.ShiftWindowMSA attribute) (robo_orchard_lab.models.modules.swin_transformer.WindowMSA attribute) (robo_orchard_lab.pipeline.hooks.stats.StatsMonitorConfig attribute) WindowMSA (class in robo_orchard_lab.models.modules.swin_transformer) with_cp (robo_orchard_lab.models.modules.resnet.BasicBlock attribute) (robo_orchard_lab.models.modules.resnet.Bottleneck attribute) (robo_orchard_lab.models.modules.resnet.ResNet attribute) (robo_orchard_lab.models.modules.swin_transformer.SwinBlock attribute)

with_depth (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) with_dn_query (robo_orchard_lab.models.bip3d.grounding_decoder.target.Grounding3DTarget attribute) with_feature_3d (robo_orchard_lab.models.bip3d.spatial_enhancer.DepthFusionSpatialEnhancer attribute) with_value_proj (robo_orchard_lab.models.bip3d.grounding_decoder.deformable_aggregation.DeformableFeatureAggregation attribute) writable (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb attribute) write() (robo_orchard_lab.dataset.lmdb.lmdb_wrapper.Lmdb method) write_index() (robo_orchard_lab.dataset.lmdb.base_lmdb_dataset.BaseLmdbManipulationDataPacker method)

Y

yaw_fc (robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder.DoF9BoxEncoder attribute)

Z

z_range (robo_orchard_lab.dataset.embodiedscan.transforms.CategoryGroundingDataPrepare attribute)

zero (robo_orchard_lab.models.sem_modules.layers.AdaRMSNorm attribute)