opentau.policies

Policies module for OpenTau.

This module exports the configuration classes for available policies, such as PI0, PI05, and Value policy.

Modules

cosmos3	cosmos3: a flow-matching Vision-Language-Action policy.
cosmos3_nano	cosmos3_nano: the cosmos3 flow-matching VLA policy on the smaller Cosmos3-Nano reasoner.
factory	Factory functions for creating policy instances and configurations.
flash_attn_cuda	Custom CUDA FlashAttention with in-kernel block-causal masking.
layers	Reusable parametric layers shared across VLA policies.
normalize	Per-dataset Normalize / Unnormalize for VLA policies.
outlier_utils	Pure, collective-free detection of normalized state/action outliers.
pi0	PI0 Policy Module.
pi05	PI05 Policy Module.
pi05_mem	PI05 Mem Policy Module.
pi06	PI06 Policy Module.
pi07
pi07_paligemma	PI07 reimplemented policy package.
pretrained	Base class for pre-trained policies in OpenTau.
utils	Utility functions for policy implementations in OpenTau.
value	Value Policy Module.