Index

_

__init__() (opentau.configs.default.DatasetConfig method) (opentau.configs.default.DatasetMixtureConfig method) (opentau.configs.default.EvalConfig method) (opentau.configs.default.WandBConfig method) (opentau.configs.deployment.PlannerConfig method) (opentau.configs.deployment.ServerConfig method) (opentau.configs.policies.PreTrainedConfig method) (opentau.configs.reward.RewardConfig method) (opentau.configs.ros2lerobot.RosToLeRobotConfig method) (opentau.configs.train.TrainPipelineConfig method) (opentau.configs.types.DictLike method) (opentau.configs.types.PolicyFeature method) (opentau.configs.types.ROSFeature method) (opentau.datasets.backward_compatibility.BackwardCompatibilityError method) (opentau.datasets.backward_compatibility.ForwardCompatibilityError method) (opentau.datasets.dataset_mixture.DatasetMixtureMetadata method) (opentau.datasets.dataset_mixture.HierarchicalSampler method) (opentau.datasets.dataset_mixture.WeightedDatasetMixture method) (opentau.datasets.image_writer.AsyncImageWriter method) (opentau.datasets.lerobot_dataset.BaseDataset method) (opentau.datasets.lerobot_dataset.DatasetMetadata method) (opentau.datasets.lerobot_dataset.LeRobotDataset method) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) (opentau.datasets.online_buffer.OnlineBuffer method) (opentau.datasets.sampler.EpisodeAwareSampler method) (opentau.datasets.transforms.ImageTransformConfig method) (opentau.datasets.transforms.ImageTransforms method) (opentau.datasets.transforms.ImageTransformsConfig method) (opentau.datasets.transforms.RandomSubsetApply method) (opentau.datasets.transforms.SharpnessJitter method) (opentau.datasets.utils.IterableNamespace method) (opentau.datasets.video_utils.VideoFrame method) (opentau.datasets.vqa.base.VQADataset method) (opentau.datasets.vqa.clevr.CLEVRDataset method) (opentau.datasets.vqa.cocoqa.COCODataset method) (opentau.datasets.vqa.dummy.DummyVQADataset method) (opentau.datasets.vqa.vsr.VSRDataset method) (opentau.envs.configs.EnvConfig method) (opentau.envs.configs.EnvMetadataConfig method) (opentau.envs.configs.LiberoEnv method) (opentau.envs.configs.RoboCasaEnv method) (opentau.envs.robocasa.RoboCasaEnv method) (opentau.envs.subgoal.LiberoLastFrameSubgoalGenerator method) (opentau.envs.subgoal.RoboCasaGoalFrameSubgoalGenerator method) (opentau.envs.subgoal.SubgoalImageGenerator method) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config method) (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3FlowMatching method) (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) (opentau.policies.cosmos3.qwen3vl_with_expert.AdaRMSNorm method) (opentau.policies.cosmos3.qwen3vl_with_expert.ExpertRMSNorm method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3ActionExpert method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3ExpertAttention method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3ExpertDecoderLayer method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3ExpertMLP method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3VLWithExpertModel method) (opentau.policies.cosmos3_nano.configuration_cosmos3_nano.Cosmos3NanoConfig method) (opentau.policies.layers.PerGroupLinear method) (opentau.policies.normalize.Normalize method) (opentau.policies.normalize.Unnormalize method) (opentau.policies.pi0.configuration_pi0.PI0Config method) (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertConfig method) (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.configuration_pi05.PI05Config method) (opentau.policies.pi05.configuration_pi05.PI05ContinuousStateConfig method) (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertConfig method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi05_mem.motion_module.MotionModule method) (opentau.policies.pi05_mem.motion_module.STSSEncoder method) (opentau.policies.pi05_mem.motion_module.STSSExtraction method) (opentau.policies.pi05_mem.motion_module.STSSIntegration method) (opentau.policies.pi05_mem.motion_module.STSSTransformation method) (opentau.policies.pi05_mem.rldx_video_encoder.RLDXVideoEncoder method) (opentau.policies.pi06.configuration_pi06.PI06Config method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertConfig method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertConfig method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.InterleavedDecoderLayer method) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07.video_encoder.SpaceTimeEncoderLayerWrapper method) (opentau.policies.pi07.video_encoder.SpaceTimeSiglipVideoEncoder method) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.ContextItem method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) (opentau.policies.pretrained.PreTrainedPolicy method) (opentau.policies.utils.PerSampleLoss method) (opentau.policies.value.configuration_value.ValueConfig method) (opentau.policies.value.modeling_value.ValueFunction method) (opentau.policies.value.modeling_value.ValueModel method) (opentau.policies.value.siglip_gemma.SiglipGemmaValueConfig method) (opentau.policies.value.siglip_gemma.SiglipGemmaValueModel method) (opentau.utils.benchmark.TimeBenchmark method) (opentau.utils.fake_tensor.FakeTensorContext method) (opentau.utils.logging_utils.AverageMeter method) (opentau.utils.logging_utils.MetricsTracker method) (opentau.utils.ros2lerobot.FeatureExtractor method) (opentau.utils.train_utils.RunningBestTracker method) (opentau.utils.transformers_patch.PatchedGemmaRMSNorm method)

A

acc_print() (in module opentau.utils.accelerate_utils) ACTION (opentau.configs.types.FeatureType attribute) action_chunk (opentau.configs.train.TrainPipelineConfig attribute) (opentau.datasets.lerobot_dataset.BaseDataset attribute) action_decoder_latency_lower (opentau.configs.policies.PreTrainedConfig attribute) action_decoder_latency_mean (opentau.configs.policies.PreTrainedConfig attribute) action_decoder_latency_std (opentau.configs.policies.PreTrainedConfig attribute) action_decoder_latency_upper (opentau.configs.policies.PreTrainedConfig attribute) action_delta_indices (opentau.configs.policies.PreTrainedConfig property) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config property) (opentau.policies.pi0.configuration_pi0.PI0Config property) (opentau.policies.pi05.configuration_pi05.PI05Config property) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig property) (opentau.policies.pi06.configuration_pi06.PI06Config property) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig property) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig property) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig property) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig property) (opentau.policies.value.configuration_value.ValueConfig property) action_feature (opentau.configs.policies.PreTrainedConfig property) action_freq (opentau.configs.default.DatasetMixtureConfig attribute) ActionExtractor (class in opentau.utils.ros2lerobot) AdaRMSNorm (class in opentau.policies.cosmos3.qwen3vl_with_expert) add_data() (opentau.datasets.online_buffer.OnlineBuffer method) add_envs_task() (in module opentau.envs.utils) add_eval_metadata() (in module opentau.envs.utils) add_frame() (opentau.datasets.lerobot_dataset.LeRobotDataset method) add_subgoal_images() (in module opentau.envs.utils) add_task() (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) advantage (opentau.policies.pi0.configuration_pi0.PI0Config attribute) advantage_threshold (opentau.policies.pi0.configuration_pi0.PI0Config attribute) advantages (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute)

aggregate_feature_stats() (in module opentau.datasets.compute_stats) aggregate_selected_stats() (in module opentau.datasets.lerobot_dataset) aggregate_stats() (in module opentau.datasets.compute_stats) aggregate_task_results() (in module opentau.utils.libero_dataset_recorder) aggregated_action_stats() (opentau.datasets.dataset_mixture.DatasetMixtureMetadata method) allow_resume (opentau.configs.default.WandBConfig attribute) api_key_env (opentau.configs.deployment.PlannerConfig attribute) append_jsonlines() (in module opentau.datasets.utils) apply_rope() (in module opentau.policies.pi0.paligemma_with_expert) (in module opentau.policies.pi05.paligemma_with_expert) (in module opentau.policies.pi06.gemma3_with_expert) (in module opentau.policies.pi07.gemma3_with_expert) are_all_envs_same_type() (in module opentau.envs.utils) assert_gemma3_input_resolution() (in module opentau.policies.utils) assets_root (opentau.envs.configs.RoboCasaEnv attribute) AsyncImageWriter (class in opentau.datasets.image_writer) attach_video() (opentau.datasets.lerobot_dataset.LeRobotDataset method) attempt_torch_compile() (in module opentau.utils.utils) attention (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.ContextItem attribute) attention_implementation (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) auto_download_assets (opentau.envs.configs.RoboCasaEnv attribute) auto_downsample_height_width() (in module opentau.datasets.compute_stats) auto_torch_device() (in module opentau.utils.utils) AverageMeter (class in opentau.utils.logging_utils) awr_max_weight (opentau.policies.pi0.configuration_pi0.PI0Config attribute)

B

backward_compatible_episodes_stats() (in module opentau.datasets.utils) BackwardCompatibilityError BaseDataset (class in opentau.datasets.lerobot_dataset) batch_size (opentau.configs.default.EvalConfig attribute) (opentau.configs.train.TrainPipelineConfig attribute)

bilinear_resample_pos_embed() (in module opentau.utils.vision_utils) bucket_episode_length() (in module opentau.datasets.speed_percentiles) build_attention_inputs() (in module opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) build_mrope_prefix_positions() (in module opentau.policies.pi05_mem.modeling_pi05)

C

C_neg (opentau.configs.reward.RewardConfig attribute) calculate_n_step_return() (in module opentau.policies.value.reward) calculate_return_bins_with_equal_width() (in module opentau.policies.value.reward) calculate_value() (opentau.policies.value.modeling_value.ValueFunction method) camera_keys (opentau.datasets.lerobot_dataset.DatasetMetadata property) camera_name (opentau.envs.configs.LiberoEnv attribute) (opentau.envs.configs.RoboCasaEnv attribute) camera_name_mapping (opentau.envs.configs.LiberoEnv attribute) capture_timestamp_utc() (in module opentau.utils.utils) cast_stats_to_numpy() (in module opentau.datasets.utils) ce_per_sample() (in module opentau.policies.utils) cfg (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) check_env_attributes_and_types() (in module opentau.envs.utils) check_timestamps_sync() (in module opentau.datasets.utils) check_version_compatibility() (in module opentau.datasets.utils) chunk_size (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) chunks_size (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) clear_episode_buffer() (opentau.datasets.lerobot_dataset.LeRobotDataset method) CLEVRDataset (class in opentau.datasets.vqa.clevr) close() (opentau.envs.robocasa.RoboCasaEnv method) close_envs() (in module opentau.envs.utils) cloud_vlm_latency_lower (opentau.configs.policies.PreTrainedConfig attribute) cloud_vlm_latency_mean (opentau.configs.policies.PreTrainedConfig attribute) cloud_vlm_latency_std (opentau.configs.policies.PreTrainedConfig attribute) cloud_vlm_latency_upper (opentau.configs.policies.PreTrainedConfig attribute) COCODataset (class in opentau.datasets.vqa.cocoqa) CompatibilityError compute_delta_params() (opentau.datasets.lerobot_dataset.LeRobotDataset static method) compute_episode_stats() (in module opentau.datasets.compute_stats) compute_norm_key() (in module opentau.datasets.dataset_mixture) compute_rope() (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3VLWithExpertModel method) compute_sampler_weights() (in module opentau.datasets.online_buffer) compute_task_percentiles() (in module opentau.datasets.speed_percentiles) condition_on_layer (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) config (opentau.policies.pretrained.PreTrainedPolicy attribute) config_class (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy attribute) (opentau.policies.cosmos3_nano.modeling_cosmos3_nano.Cosmos3NanoPolicy attribute) (opentau.policies.pi0.modeling_pi0.PI0Policy attribute) (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel attribute) (opentau.policies.pi05.modeling_pi05.PI05Policy attribute) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel attribute) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy attribute) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel attribute) (opentau.policies.pi06.modeling_pi06.PI06Policy attribute) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel attribute) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy attribute) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy attribute) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy attribute) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy attribute) (opentau.policies.pretrained.PreTrainedPolicy attribute) (opentau.policies.value.modeling_value.ValueFunction attribute) (opentau.policies.value.siglip_gemma.SiglipGemmaValueModel attribute)

consolidate_task_result() (in module opentau.utils.libero_dataset_recorder) ContextItem (class in opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) control_mode (opentau.configs.default.DatasetConfig attribute) (opentau.configs.default.EvalConfig attribute) (opentau.configs.deployment.ServerConfig attribute) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) (opentau.envs.configs.EnvMetadataConfig attribute) convert_action() (in module opentau.envs.robocasa) Cosmos3Config (class in opentau.policies.cosmos3.configuration_cosmos3) Cosmos3FlowMatching (class in opentau.policies.cosmos3.modeling_cosmos3) Cosmos3NanoConfig (class in opentau.policies.cosmos3_nano.configuration_cosmos3_nano) Cosmos3NanoPolicy (class in opentau.policies.cosmos3_nano.modeling_cosmos3_nano) Cosmos3Policy (class in opentau.policies.cosmos3.modeling_cosmos3) count (opentau.policies.utils.PerSampleLoss attribute) create() (opentau.datasets.lerobot_dataset.LeRobotDataset class method) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata class method) create_branch() (in module opentau.datasets.utils) create_dummy_observation() (in module opentau.utils.utils) create_empty_dataset_info() (in module opentau.datasets.utils) create_episode_buffer() (opentau.datasets.lerobot_dataset.LeRobotDataset method) create_hf_dataset() (opentau.datasets.lerobot_dataset.LeRobotDataset method) create_lerobot_dataset_card() (in module opentau.datasets.utils) create_meta() (opentau.datasets.vqa.base.VQADataset method) create_robocasa_envs() (in module opentau.envs.robocasa) create_sinusoidal_pos_embedding() (in module opentau.policies.cosmos3.modeling_cosmos3) (in module opentau.policies.pi0.modeling_pi0) (in module opentau.policies.pi05.modeling_pi05) (in module opentau.policies.pi05_mem.modeling_pi05) (in module opentau.policies.pi06.modeling_pi06) (in module opentau.policies.pi07.low_level.modeling_pi07_low_level) (in module opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) create_stats_buffers() (in module opentau.policies.normalize) cycle() (in module opentau.datasets.utils)

D

data (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.ContextItem attribute) data_features_name_mapping (opentau.configs.default.DatasetConfig attribute) data_keys (opentau.datasets.online_buffer.OnlineBuffer property) data_path (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) dataloader_batch_size (opentau.configs.train.TrainPipelineConfig attribute) dataset_features (opentau.configs.ros2lerobot.RosToLeRobotConfig attribute), [1] dataset_mixture (opentau.configs.train.TrainPipelineConfig attribute) dataset_name_to_index (opentau.datasets.dataset_mixture.DatasetMixtureMetadata attribute) dataset_names (opentau.configs.policies.PreTrainedConfig attribute) (opentau.datasets.dataset_mixture.DatasetMixtureMetadata attribute) dataset_repo_id (opentau.configs.default.EvalConfig attribute) (opentau.configs.deployment.ServerConfig attribute) dataset_to_norm_index (opentau.configs.policies.PreTrainedConfig attribute) (opentau.datasets.dataset_mixture.DatasetMixtureMetadata attribute) dataset_to_policy_features() (in module opentau.datasets.utils) DatasetConfig (class in opentau.configs.default) DatasetMetadata (class in opentau.datasets.lerobot_dataset) DatasetMixtureConfig (class in opentau.configs.default) DatasetMixtureMetadata (class in opentau.datasets.dataset_mixture) datasets (opentau.configs.default.DatasetMixtureConfig attribute) debug (opentau.configs.train.TrainPipelineConfig attribute) decode_video_frames() (in module opentau.datasets.video_utils) decode_video_frames_torchcodec() (in module opentau.datasets.video_utils) decode_video_frames_torchvision() (in module opentau.datasets.video_utils) decorrelate_rank_seeds (opentau.configs.default.EvalConfig attribute) delta_timestamps (opentau.datasets.online_buffer.OnlineBuffer property) delta_timestamps_params (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) denoise_step() (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) deserialize_json_into_object() (in module opentau.utils.io_utils) deserialize_numpy_rng_state() (in module opentau.utils.random_utils)

deserialize_python_rng_state() (in module opentau.utils.random_utils) deserialize_rng_state() (in module opentau.utils.random_utils) deserialize_torch_rng_state() (in module opentau.utils.random_utils) detect_state_action_outliers() (in module opentau.policies.outlier_utils) device (opentau.configs.policies.PreTrainedConfig attribute) DictLike (class in opentau.configs.types) dim (opentau.policies.outlier_utils.OutlierRecord attribute) disable_artifact (opentau.configs.default.WandBConfig attribute) disable_env_checker (opentau.envs.configs.EnvConfig attribute) disable_video (opentau.configs.default.WandBConfig attribute) discrete_action_indicator_max_length (opentau.policies.pi05.configuration_pi05.PI05Config attribute) discrete_action_max_length (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) discrete_action_tokenizer_path (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) download_episodes() (opentau.datasets.lerobot_dataset.LeRobotDataset method) download_files() (opentau.datasets.lerobot_dataset.LeRobotDataset method) dropout (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) dtype (opentau.configs.types.ROSFeature attribute), [1] DummyVQADataset (class in opentau.datasets.vqa.dummy)

E

eager_attention_forward() (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) embed_discrete_actions() (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) embed_image() (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.value.siglip_gemma.SiglipGemmaValueModel method) embed_images() (in module opentau.datasets.utils) embed_language_tokens() (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.value.siglip_gemma.SiglipGemmaValueModel method) embed_prefix() (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) embed_sequence() (opentau.policies.value.modeling_value.ValueModel method) embed_suffix() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3FlowMatching method) (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) embed_video() (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) emit_fps (opentau.configs.default.DatasetMixtureConfig attribute) (opentau.envs.configs.EnvMetadataConfig attribute) empty_cameras (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute)

enable (opentau.configs.default.WandBConfig attribute) (opentau.datasets.transforms.ImageTransformsConfig attribute) enabled (opentau.configs.deployment.PlannerConfig attribute) encode_accelerator_state_dict() (in module opentau.utils.utils) encode_episode_videos() (opentau.datasets.lerobot_dataset.LeRobotDataset method) encode_video_frames() (in module opentau.datasets.video_utils) encode_videos() (opentau.datasets.lerobot_dataset.LeRobotDataset method) ensure_loc_tokens() (in module opentau.datasets.grounding.tokenizer_utils) entity (opentau.configs.default.WandBConfig attribute) enum_values (opentau.configs.types.ROSFeature attribute), [1] env (opentau.configs.train.TrainPipelineConfig attribute) ENV (opentau.configs.types.FeatureType attribute) env_state_feature (opentau.configs.policies.PreTrainedConfig property) EnvConfig (class in opentau.envs.configs) EnvMetadataConfig (class in opentau.envs.configs) episode (opentau.policies.outlier_utils.OutlierRecord attribute) EPISODE_INDEX_KEY (opentau.datasets.online_buffer.OnlineBuffer attribute) episode_length (opentau.envs.configs.LiberoEnv attribute) (opentau.envs.configs.RoboCasaEnv attribute) episode_to_task_index_from_hf_dataset() (in module opentau.datasets.speed_percentiles) EpisodeAwareSampler (class in opentau.datasets.sampler) episodes (opentau.configs.default.DatasetConfig attribute) (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute) episodes_stats (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute) estimate_num_samples() (in module opentau.datasets.compute_stats) eval (opentau.configs.train.TrainPipelineConfig attribute) eval_freq (opentau.configs.train.TrainPipelineConfig attribute) eval_use_discrete_actions (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) EvalConfig (class in opentau.configs.default) exclude_from_cross_attention (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.ContextItem attribute) excluded_episodes (opentau.configs.default.DatasetConfig attribute) expert_adarms_cond_dim (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) expert_head_dim (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) expert_hidden_size (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) expert_intermediate_size (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) expert_num_attention_heads (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) expert_num_hidden_layers (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.cosmos3_nano.configuration_cosmos3_nano.Cosmos3NanoConfig attribute) expert_num_key_value_heads (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) expert_rms_norm_eps (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) expert_rope_theta (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) ExpertRMSNorm (class in opentau.policies.cosmos3.qwen3vl_with_expert) extra_repr() (opentau.datasets.transforms.RandomSubsetApply method) (opentau.policies.layers.PerGroupLinear method) (opentau.utils.transformers_patch.PatchedGemmaRMSNorm method)

F

FakeTensorContext (class in opentau.utils.fake_tensor) feature_mapping_key() (in module opentau.datasets.standard_data_format_mapping) FeatureExtractor (class in opentau.utils.ros2lerobot) features (opentau.datasets.dataset_mixture.DatasetMixtureMetadata property) (opentau.datasets.lerobot_dataset.DatasetMetadata property) (opentau.datasets.lerobot_dataset.LeRobotDataset property) (opentau.envs.configs.EnvConfig attribute) (opentau.envs.configs.LiberoEnv attribute) (opentau.envs.configs.RoboCasaEnv attribute) features_map (opentau.envs.configs.EnvConfig attribute) (opentau.envs.configs.LiberoEnv attribute) (opentau.envs.configs.RoboCasaEnv attribute) FeatureType (class in opentau.configs.types) filter_arg() (in module opentau.configs.parser) filter_distributed_args() (in module opentau.configs.parser) filter_path_args() (in module opentau.configs.parser) find_missing_rng_state_ranks() (in module opentau.utils.train_utils) first_plan_timeout_s (opentau.configs.deployment.PlannerConfig attribute) flash_attention_forward() (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) flash_attn_blockmask() (in module opentau.policies.flash_attn_cuda) flash_cuda_active() (in module opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) flatten_dict() (in module opentau.datasets.utils) flow_matching_masked_mse() (in module opentau.policies.utils) format_big_number() (in module opentau.utils.utils) forward() (opentau.datasets.transforms.ImageTransforms method) (opentau.datasets.transforms.RandomSubsetApply method) (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3FlowMatching method) (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) (opentau.policies.cosmos3.qwen3vl_with_expert.AdaRMSNorm method) (opentau.policies.cosmos3.qwen3vl_with_expert.ExpertRMSNorm method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3ActionExpert method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3ExpertAttention method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3ExpertDecoderLayer method) (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3ExpertMLP method) (opentau.policies.layers.PerGroupLinear method) (opentau.policies.normalize.Normalize method) (opentau.policies.normalize.Unnormalize method) (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi05_mem.motion_module.MotionModule method) (opentau.policies.pi05_mem.motion_module.STSSEncoder method) (opentau.policies.pi05_mem.motion_module.STSSExtraction method) (opentau.policies.pi05_mem.motion_module.STSSIntegration method) (opentau.policies.pi05_mem.motion_module.STSSTransformation method) (opentau.policies.pi05_mem.rldx_video_encoder.RLDXVideoEncoder method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.InterleavedDecoderLayer method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07.video_encoder.SpaceTimeEncoderLayerWrapper method) (opentau.policies.pi07.video_encoder.SpaceTimeSiglipVideoEncoder method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) (opentau.policies.pretrained.PreTrainedPolicy method) (opentau.policies.value.modeling_value.ValueFunction method) (opentau.policies.value.modeling_value.ValueModel method) (opentau.policies.value.siglip_gemma.SiglipGemmaValueModel method) (opentau.utils.transformers_patch.PatchedGemmaRMSNorm method)

ForwardCompatibilityError fps (opentau.configs.ros2lerobot.RosToLeRobotConfig attribute), [1] (opentau.datasets.lerobot_dataset.DatasetMetadata property) (opentau.datasets.lerobot_dataset.LeRobotDataset property) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) (opentau.datasets.online_buffer.OnlineBuffer property) (opentau.envs.configs.EnvConfig attribute) (opentau.envs.configs.LiberoEnv attribute) (opentau.envs.configs.RoboCasaEnv attribute) (opentau.envs.subgoal.LiberoLastFrameSubgoalGenerator property) frame (opentau.policies.outlier_utils.OutlierRecord attribute) FRAME_INDEX_KEY (opentau.datasets.online_buffer.OnlineBuffer attribute) freeze_vision_encoder (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) from_pretrained() (opentau.configs.policies.PreTrainedConfig class method) (opentau.configs.train.TrainPipelineConfig class method) (opentau.policies.pi0.modeling_pi0.PI0Policy class method) (opentau.policies.pi05.modeling_pi05.PI05Policy class method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy class method) (opentau.policies.pi06.modeling_pi06.PI06Policy class method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy class method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy class method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy class method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy class method) (opentau.policies.pretrained.PreTrainedPolicy class method) (opentau.utils.hub.HubMixin class method)

G

Gemma3WithExpertConfig (class in opentau.policies.pi06.gemma3_with_expert) (class in opentau.policies.pi07.gemma3_with_expert) Gemma3WithExpertModel (class in opentau.policies.pi06.gemma3_with_expert) (class in opentau.policies.pi07.gemma3_with_expert) generate_discrete_actions() (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) get_attention_interface() (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) get_audio_info() (in module opentau.datasets.video_utils) get_channel_first_image_shape() (in module opentau.utils.utils) get_cli_overrides() (in module opentau.configs.parser) get_combined_val_dataloader() (opentau.datasets.dataset_mixture.WeightedDatasetMixture method) get_data_by_key() (opentau.datasets.online_buffer.OnlineBuffer method) get_data_file_path() (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) get_dataloader() (opentau.datasets.dataset_mixture.WeightedDatasetMixture method) get_delta_indices_soft() (in module opentau.datasets.utils) get_device_from_parameters() (in module opentau.policies.utils) get_dtype_from_parameters() (in module opentau.policies.utils) get_episode_chunk() (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) get_episode_data_index() (in module opentau.datasets.utils) get_episodes_file_paths() (opentau.datasets.lerobot_dataset.LeRobotDataset method) get_feature_stats() (in module opentau.datasets.compute_stats) get_hf_features_from_features() (in module opentau.datasets.utils) get_image_pixel_channels() (in module opentau.datasets.video_utils) get_nested_item() (in module opentau.datasets.utils) (in module opentau.utils.ros2lerobot) get_optim_params() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) (opentau.policies.pretrained.PreTrainedPolicy method) (opentau.policies.value.modeling_value.ValueFunction method) get_optimizer_preset() (opentau.configs.policies.PreTrainedConfig method) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config method) (opentau.policies.pi0.configuration_pi0.PI0Config method) (opentau.policies.pi05.configuration_pi05.PI05Config method) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig method) (opentau.policies.pi06.configuration_pi06.PI06Config method) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig method) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig method) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig method) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig method) (opentau.policies.value.configuration_value.ValueConfig method) get_output_shape() (in module opentau.policies.utils)

get_path_arg() (in module opentau.configs.parser) get_per_dataset_dataloaders() (opentau.datasets.dataset_mixture.WeightedDatasetMixture method) get_policy_class() (in module opentau.policies.factory) get_proc_accelerator() (in module opentau.utils.accelerate_utils) get_repo_branches() (in module opentau.datasets.utils) get_repo_versions() (in module opentau.datasets.utils) get_rng_state() (in module opentau.utils.random_utils) get_rope_index() (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3VLWithExpertModel method) get_safe_default_codec() (in module opentau.datasets.video_utils) get_safe_dtype() (in module opentau.utils.utils) get_safe_encoding_vcodec() (in module opentau.datasets.video_utils) get_safe_torch_device() (in module opentau.utils.utils) get_safe_version() (in module opentau.datasets.utils) get_scheduler_preset() (opentau.configs.policies.PreTrainedConfig method) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config method) (opentau.policies.pi0.configuration_pi0.PI0Config method) (opentau.policies.pi05.configuration_pi05.PI05Config method) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig method) (opentau.policies.pi06.configuration_pi06.PI06Config method) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig method) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig method) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig method) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig method) (opentau.policies.value.configuration_value.ValueConfig method) get_step_checkpoint_dir() (in module opentau.utils.train_utils) get_step_identifier() (in module opentau.utils.train_utils) get_task_index() (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) get_type_arg() (in module opentau.configs.parser) get_value() (opentau.policies.value.modeling_value.ValueModel method) (opentau.policies.value.siglip_gemma.SiglipGemmaValueModel method) get_video_file_path() (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) get_video_info() (in module opentau.datasets.video_utils) get_video_pixel_channels() (in module opentau.datasets.video_utils) goal_frames_dir (opentau.configs.default.EvalConfig attribute) gradient_accumulation_steps (opentau.configs.train.TrainPipelineConfig attribute) gradient_checkpointing (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07.video_encoder.SpaceTimeEncoderLayerWrapper attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) grid_size (opentau.configs.default.EvalConfig attribute) group (opentau.configs.default.WandBConfig attribute) gym_is_gymnasium_patch() (in module opentau.utils.monkey_patch) gym_kwargs (opentau.envs.configs.EnvConfig property) (opentau.envs.configs.LiberoEnv property) (opentau.envs.configs.RoboCasaEnv property)

H

has_method() (in module opentau.utils.utils) hf_dataset (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) hf_features (opentau.datasets.lerobot_dataset.LeRobotDataset property) hf_transform_to_torch() (in module opentau.datasets.utils) HierarchicalSampler (class in opentau.datasets.dataset_mixture)

history_interval (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) history_state_drop_prob (opentau.configs.default.DatasetMixtureConfig attribute) HubMixin (class in opentau.utils.hub)

I

IDENTITY (opentau.configs.types.NormalizationMode attribute) image_array_to_pil_image() (in module opentau.datasets.image_writer) image_features (opentau.configs.policies.PreTrainedConfig property) image_keys (opentau.datasets.lerobot_dataset.DatasetMetadata property) image_resample_strategy (opentau.configs.default.DatasetMixtureConfig attribute) image_resize (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) image_transforms (opentau.configs.default.DatasetConfig attribute) (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) ImageExtractor (class in opentau.utils.ros2lerobot) ImageTransformConfig (class in opentau.datasets.transforms) ImageTransforms (class in opentau.datasets.transforms) ImageTransformsConfig (class in opentau.datasets.transforms) import_name (opentau.envs.configs.EnvConfig attribute) include_state (opentau.configs.deployment.PlannerConfig attribute) INDEX_KEY (opentau.datasets.online_buffer.OnlineBuffer attribute) infer_autoregressive() (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) infer_response() (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) info (opentau.datasets.lerobot_dataset.DatasetMetadata attribute) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute)

init_logging() (in module opentau.utils.utils) init_states (opentau.envs.configs.LiberoEnv attribute) initialize_weights() (opentau.policies.pi05_mem.motion_module.MotionModule method) input_features (opentau.configs.policies.PreTrainedConfig attribute) input_image_size (opentau.configs.policies.PreTrainedConfig property) input_path (opentau.configs.ros2lerobot.RosToLeRobotConfig attribute), [1] inside_slurm() (in module opentau.utils.utils) InterleavedDecoderLayer (class in opentau.policies.pi07.gemma3_with_expert) interval_s (opentau.configs.deployment.PlannerConfig attribute) is_amp_available() (in module opentau.utils.utils) is_available() (in module opentau.policies.flash_attn_cuda) is_improvement() (opentau.utils.train_utils.RunningBestTracker method) is_launched_with_accelerate() (in module opentau.utils.utils) is_norm_buffer_key() (in module opentau.policies.pretrained) is_package_available() (in module opentau.utils.import_utils) IS_PAD_POSTFIX (opentau.datasets.online_buffer.OnlineBuffer attribute) is_torch_device_available() (in module opentau.utils.utils) is_valid_numpy_dtype_string() (in module opentau.utils.utils) is_valid_version() (in module opentau.datasets.utils) item_type (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.ContextItem attribute) items() (opentau.datasets.utils.IterableNamespace method) IterableNamespace (class in opentau.datasets.utils)

J

job_name (opentau.configs.train.TrainPipelineConfig attribute)

job_type (opentau.configs.default.WandBConfig attribute) joint_order (opentau.configs.ros2lerobot.RosToLeRobotConfig attribute), [1]

K

keep_per_episode_videos (opentau.configs.default.EvalConfig attribute) key (opentau.policies.outlier_utils.OutlierRecord attribute) keys() (opentau.datasets.utils.IterableNamespace method) knowledge_insulation (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute)

known_languages() (opentau.envs.subgoal.LiberoLastFrameSubgoalGenerator method) kwargs (opentau.datasets.transforms.ImageTransformConfig attribute)

L

last_checkpoint_only (opentau.configs.train.TrainPipelineConfig attribute) LeRobotDataset (class in opentau.datasets.lerobot_dataset) LeRobotDatasetMetadata (class in opentau.datasets.lerobot_dataset) LiberoEnv (class in opentau.envs.configs) LiberoLastFrameSubgoalGenerator (class in opentau.envs.subgoal) load_advantages() (in module opentau.datasets.utils) load_episodes() (in module opentau.datasets.utils) load_episodes_and_stats_v30() (in module opentau.datasets.utils) load_episodes_stats() (in module opentau.datasets.utils) load_episodes_stats_v30() (in module opentau.datasets.utils) load_episodes_v30() (in module opentau.datasets.utils) load_error() (in module opentau.policies.flash_attn_cuda) load_hf_dataset() (opentau.datasets.lerobot_dataset.LeRobotDataset method) load_image_as_numpy() (in module opentau.datasets.utils) load_info() (in module opentau.datasets.utils) load_json() (in module opentau.datasets.utils) load_jsonlines() (in module opentau.datasets.utils) load_metadata() (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method)

load_or_compute_speed_percentiles() (in module opentau.datasets.speed_percentiles) load_plugin() (in module opentau.configs.parser) load_pretrained_backbone (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) load_resolved_config_dict() (in module opentau.configs.policies) load_rng_state() (in module opentau.utils.random_utils) load_running_best_state() (in module opentau.utils.train_utils) load_stats() (in module opentau.datasets.utils) load_stripped_config_to_tempfile() (in module opentau.configs.policies) load_tasks() (in module opentau.datasets.utils) load_tasks_v30() (in module opentau.datasets.utils) load_training_state() (in module opentau.utils.train_utils) load_training_step() (in module opentau.utils.train_utils) loc_tokens_to_points() (in module opentau.datasets.grounding.loc_codec) loc_tokens_to_xyxy() (in module opentau.datasets.grounding.loc_codec) log_freq (opentau.configs.train.TrainPipelineConfig attribute) log_model_loading_keys() (in module opentau.policies.utils) log_output_dir() (in module opentau.utils.train_utils) log_say() (in module opentau.utils.utils) loss_weighting (opentau.configs.train.TrainPipelineConfig attribute)

M

make_action_dim_mask() (in module opentau.policies.utils) make_att_2d_masks() (in module opentau.policies.cosmos3.modeling_cosmos3) (in module opentau.policies.pi0.modeling_pi0) (in module opentau.policies.pi05.modeling_pi05) (in module opentau.policies.pi05_mem.modeling_pi05) (in module opentau.policies.pi06.modeling_pi06) (in module opentau.policies.pi07.high_level_planner.modeling_pi07_high_level) (in module opentau.policies.pi07.low_level.modeling_pi07_low_level) (in module opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level) (in module opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) (in module opentau.policies.value.modeling_value) make_att_block_ids() (in module opentau.policies.flash_attn_cuda) make_dataset() (in module opentau.datasets.factory) make_dataset_mixture() (in module opentau.datasets.factory) make_env_config() (in module opentau.envs.factory) make_envs() (in module opentau.envs.factory) make_id (opentau.envs.configs.EnvConfig attribute) make_libero_info() (in module opentau.utils.libero_dataset_recorder) make_params() (opentau.datasets.transforms.SharpnessJitter method) make_policy() (in module opentau.policies.factory) make_policy_config() (in module opentau.policies.factory) make_readme() (in module opentau.utils.libero_dataset_recorder) make_transform_from_config() (in module opentau.datasets.transforms) max_action_dim (opentau.configs.train.TrainPipelineConfig attribute) (opentau.datasets.lerobot_dataset.BaseDataset attribute) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) max_delay (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) max_episodes_rendered (opentau.configs.default.EvalConfig attribute) max_num_transforms (opentau.datasets.transforms.ImageTransformsConfig attribute) max_output_tokens (opentau.configs.deployment.PlannerConfig attribute) max_parallel_tasks (opentau.envs.configs.EnvConfig attribute) max_receive_message_length (opentau.configs.deployment.ServerConfig property) max_receive_message_length_mb (opentau.configs.deployment.ServerConfig attribute) max_send_message_length (opentau.configs.deployment.ServerConfig property) max_send_message_length_mb (opentau.configs.deployment.ServerConfig attribute) max_state_dim (opentau.configs.train.TrainPipelineConfig attribute) (opentau.datasets.lerobot_dataset.BaseDataset attribute) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) max_workers (opentau.configs.deployment.ServerConfig attribute) maybe_compile_for_training() (opentau.policies.pretrained.PreTrainedPolicy method) MEAN_STD (opentau.configs.types.NormalizationMode attribute) memory_indicator_max_length (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) memory_max_length (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) meta (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) (opentau.datasets.vqa.base.VQADataset attribute) metadata (opentau.envs.configs.EnvConfig attribute) (opentau.envs.robocasa.RoboCasaEnv attribute) metadata_drop_all_prob (opentau.configs.default.DatasetMixtureConfig attribute) metadata_drop_each_prob (opentau.configs.default.DatasetMixtureConfig attribute) metadata_max_length (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) MetricsTracker (class in opentau.utils.logging_utils) MIN_MAX (opentau.configs.types.NormalizationMode attribute) mistake (opentau.envs.configs.EnvMetadataConfig attribute) mode (opentau.configs.default.WandBConfig attribute) model (opentau.configs.deployment.PlannerConfig attribute) model_type (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertConfig attribute) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertConfig attribute) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertConfig attribute) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertConfig attribute) (opentau.policies.value.siglip_gemma.SiglipGemmaValueConfig attribute) module opentau.configs opentau.configs.default opentau.configs.deployment opentau.configs.parser opentau.configs.policies opentau.configs.refs opentau.configs.reward opentau.configs.ros2lerobot opentau.configs.train opentau.configs.types opentau.constants opentau.datasets opentau.datasets.backward_compatibility opentau.datasets.compute_stats opentau.datasets.dataset_mixture opentau.datasets.factory opentau.datasets.grounding opentau.datasets.grounding.loc_codec opentau.datasets.grounding.tokenizer_utils opentau.datasets.image_writer opentau.datasets.lerobot_dataset opentau.datasets.online_buffer opentau.datasets.sampler opentau.datasets.speed_percentiles opentau.datasets.standard_data_format_mapping opentau.datasets.transforms opentau.datasets.utils opentau.datasets.video_utils opentau.datasets.vqa opentau.datasets.vqa.base opentau.datasets.vqa.clevr opentau.datasets.vqa.cocoqa opentau.datasets.vqa.dummy opentau.datasets.vqa.vsr opentau.envs opentau.envs.configs opentau.envs.factory opentau.envs.robocasa opentau.envs.subgoal opentau.envs.utils opentau.policies opentau.policies.cosmos3 opentau.policies.cosmos3.configuration_cosmos3 opentau.policies.cosmos3.modeling_cosmos3 opentau.policies.cosmos3.qwen3vl_with_expert opentau.policies.cosmos3_nano opentau.policies.cosmos3_nano.configuration_cosmos3_nano opentau.policies.cosmos3_nano.modeling_cosmos3_nano opentau.policies.factory opentau.policies.flash_attn_cuda opentau.policies.layers opentau.policies.normalize opentau.policies.outlier_utils opentau.policies.pi0 opentau.policies.pi0.configuration_pi0 opentau.policies.pi0.modeling_pi0 opentau.policies.pi0.paligemma_with_expert opentau.policies.pi05 opentau.policies.pi05.configuration_pi05 opentau.policies.pi05.modeling_pi05 opentau.policies.pi05.paligemma_with_expert opentau.policies.pi05_mem opentau.policies.pi05_mem.configuration_pi05 opentau.policies.pi05_mem.modeling_pi05 opentau.policies.pi05_mem.motion_module opentau.policies.pi05_mem.rldx_video_encoder opentau.policies.pi06 opentau.policies.pi06.configuration_pi06 opentau.policies.pi06.gemma3_with_expert opentau.policies.pi06.modeling_pi06 opentau.policies.pi07 opentau.policies.pi07.gemma3_with_expert opentau.policies.pi07.high_level_planner opentau.policies.pi07.high_level_planner.configuration_pi07_high_level opentau.policies.pi07.high_level_planner.modeling_pi07_high_level opentau.policies.pi07.low_level opentau.policies.pi07.low_level.configuration_pi07_low_level opentau.policies.pi07.low_level.modeling_pi07_low_level opentau.policies.pi07.video_encoder opentau.policies.pi07_paligemma opentau.policies.pi07_paligemma.high_level_planner opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level opentau.policies.pi07_paligemma.low_level opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level opentau.policies.pretrained opentau.policies.utils opentau.policies.value opentau.policies.value.configuration_value opentau.policies.value.modeling_value opentau.policies.value.reward opentau.policies.value.siglip_gemma opentau.utils opentau.utils.accelerate_utils opentau.utils.benchmark opentau.utils.fake_tensor opentau.utils.hub opentau.utils.import_utils opentau.utils.io_utils opentau.utils.libero_dataset_recorder opentau.utils.logging_utils opentau.utils.monkey_patch opentau.utils.random_utils opentau.utils.ros2lerobot opentau.utils.train_utils opentau.utils.transformers_patch opentau.utils.utils opentau.utils.vision_utils

motion_corr_func (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) motion_hidden_dim (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) motion_insert_layer (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) motion_int_mode (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) motion_n_encoders (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) motion_norm (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) motion_window (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) motion_zero_init (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) MotionModule (class in opentau.policies.pi05_mem.motion_module) mrope_suffix_position_ids() (in module opentau.policies.pi05_mem.modeling_pi05) multi_modal_projector (opentau.policies.pi05_mem.rldx_video_encoder.RLDXVideoEncoder property) (opentau.policies.pi07.video_encoder.SpaceTimeSiglipVideoEncoder property)

N

n_action_steps (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) n_episodes (opentau.configs.default.EvalConfig attribute) n_obs_history (opentau.configs.default.DatasetMixtureConfig attribute) n_obs_steps (opentau.configs.policies.PreTrainedConfig attribute) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) N_steps_look_ahead (opentau.configs.reward.RewardConfig attribute) name (opentau.configs.default.WandBConfig attribute) (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy attribute) (opentau.policies.cosmos3_nano.modeling_cosmos3_nano.Cosmos3NanoPolicy attribute) (opentau.policies.pi0.modeling_pi0.PI0Policy attribute) (opentau.policies.pi05.modeling_pi05.PI05Policy attribute) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy attribute) (opentau.policies.pi06.modeling_pi06.PI06Policy attribute) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy attribute) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy attribute) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy attribute) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy attribute) (opentau.policies.pretrained.PreTrainedPolicy attribute) (opentau.policies.value.modeling_value.ValueFunction attribute) names (opentau.datasets.lerobot_dataset.DatasetMetadata property)

NEXT_INDEX_KEY (opentau.datasets.online_buffer.OnlineBuffer attribute) norm_key_to_dataset_names (opentau.datasets.dataset_mixture.DatasetMixtureMetadata attribute) norm_key_to_index (opentau.datasets.dataset_mixture.DatasetMixtureMetadata attribute) norm_keys (opentau.datasets.dataset_mixture.DatasetMixtureMetadata attribute) normalization_mapping (opentau.configs.policies.PreTrainedConfig attribute) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) NormalizationMode (class in opentau.configs.types) Normalize (class in opentau.policies.normalize) notes (opentau.configs.default.WandBConfig attribute) num_cams (opentau.configs.train.TrainPipelineConfig attribute) (opentau.datasets.lerobot_dataset.BaseDataset attribute) num_episodes (opentau.datasets.lerobot_dataset.LeRobotDataset property) (opentau.datasets.online_buffer.OnlineBuffer property) (opentau.datasets.vqa.base.VQADataset attribute) num_frames (opentau.datasets.lerobot_dataset.LeRobotDataset property) (opentau.datasets.online_buffer.OnlineBuffer property) (opentau.datasets.vqa.base.VQADataset attribute) num_scenes (opentau.envs.subgoal.RoboCasaGoalFrameSubgoalGenerator property) num_steps (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) num_workers (opentau.configs.train.TrainPipelineConfig attribute) number_of_bins (opentau.configs.reward.RewardConfig attribute)

O

obj_registries (opentau.envs.configs.RoboCasaEnv attribute) obs_buffer_size (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig property) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig property) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig property) obs_history_is_pad (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.ContextItem attribute) obs_type (opentau.envs.configs.LiberoEnv attribute) (opentau.envs.configs.RoboCasaEnv attribute) observation_delta_indices (opentau.configs.policies.PreTrainedConfig property) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config property) (opentau.policies.pi0.configuration_pi0.PI0Config property) (opentau.policies.pi05.configuration_pi05.PI05Config property) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig property) (opentau.policies.pi06.configuration_pi06.PI06Config property) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig property) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig property) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig property) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig property) (opentau.policies.value.configuration_value.ValueConfig property) observation_height (opentau.envs.configs.RoboCasaEnv attribute) observation_width (opentau.envs.configs.RoboCasaEnv attribute) OCCUPANCY_MASK_KEY (opentau.datasets.online_buffer.OnlineBuffer attribute) on_accelerate_main_proc() (in module opentau.utils.utils) on_resume (opentau.configs.default.WandBConfig attribute) OnlineBuffer (class in opentau.datasets.online_buffer) opentau.configs module opentau.configs.default module opentau.configs.deployment module opentau.configs.parser module opentau.configs.policies module opentau.configs.refs module opentau.configs.reward module opentau.configs.ros2lerobot module opentau.configs.train module opentau.configs.types module opentau.constants module opentau.datasets module opentau.datasets.backward_compatibility module opentau.datasets.compute_stats module opentau.datasets.dataset_mixture module opentau.datasets.factory module opentau.datasets.grounding module opentau.datasets.grounding.loc_codec module opentau.datasets.grounding.tokenizer_utils module opentau.datasets.image_writer module opentau.datasets.lerobot_dataset module opentau.datasets.online_buffer module opentau.datasets.sampler module opentau.datasets.speed_percentiles module opentau.datasets.standard_data_format_mapping module opentau.datasets.transforms module opentau.datasets.utils module opentau.datasets.video_utils module opentau.datasets.vqa module opentau.datasets.vqa.base module opentau.datasets.vqa.clevr module opentau.datasets.vqa.cocoqa module opentau.datasets.vqa.dummy module opentau.datasets.vqa.vsr module opentau.envs module opentau.envs.configs module opentau.envs.factory module opentau.envs.robocasa module opentau.envs.subgoal module opentau.envs.utils module opentau.policies module opentau.policies.cosmos3 module opentau.policies.cosmos3.configuration_cosmos3 module opentau.policies.cosmos3.modeling_cosmos3 module opentau.policies.cosmos3.qwen3vl_with_expert module opentau.policies.cosmos3_nano module opentau.policies.cosmos3_nano.configuration_cosmos3_nano module opentau.policies.cosmos3_nano.modeling_cosmos3_nano module opentau.policies.factory module opentau.policies.flash_attn_cuda module opentau.policies.layers module opentau.policies.normalize module opentau.policies.outlier_utils module opentau.policies.pi0 module opentau.policies.pi0.configuration_pi0 module opentau.policies.pi0.modeling_pi0 module opentau.policies.pi0.paligemma_with_expert module opentau.policies.pi05 module opentau.policies.pi05.configuration_pi05 module opentau.policies.pi05.modeling_pi05 module

opentau.policies.pi05.paligemma_with_expert module opentau.policies.pi05_mem module opentau.policies.pi05_mem.configuration_pi05 module opentau.policies.pi05_mem.modeling_pi05 module opentau.policies.pi05_mem.motion_module module opentau.policies.pi05_mem.rldx_video_encoder module opentau.policies.pi06 module opentau.policies.pi06.configuration_pi06 module opentau.policies.pi06.gemma3_with_expert module opentau.policies.pi06.modeling_pi06 module opentau.policies.pi07 module opentau.policies.pi07.gemma3_with_expert module opentau.policies.pi07.high_level_planner module opentau.policies.pi07.high_level_planner.configuration_pi07_high_level module opentau.policies.pi07.high_level_planner.modeling_pi07_high_level module opentau.policies.pi07.low_level module opentau.policies.pi07.low_level.configuration_pi07_low_level module opentau.policies.pi07.low_level.modeling_pi07_low_level module opentau.policies.pi07.video_encoder module opentau.policies.pi07_paligemma module opentau.policies.pi07_paligemma.high_level_planner module opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level module opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level module opentau.policies.pi07_paligemma.low_level module opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level module opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level module opentau.policies.pretrained module opentau.policies.utils module opentau.policies.value module opentau.policies.value.configuration_value module opentau.policies.value.modeling_value module opentau.policies.value.reward module opentau.policies.value.siglip_gemma module opentau.utils module opentau.utils.accelerate_utils module opentau.utils.benchmark module opentau.utils.fake_tensor module opentau.utils.hub module opentau.utils.import_utils module opentau.utils.io_utils module opentau.utils.libero_dataset_recorder module opentau.utils.logging_utils module opentau.utils.monkey_patch module opentau.utils.random_utils module opentau.utils.ros2lerobot module opentau.utils.train_utils module opentau.utils.transformers_patch module opentau.utils.utils module opentau.utils.vision_utils module optimizer (opentau.configs.train.TrainPipelineConfig attribute) optimizer_betas (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) optimizer_eps (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) optimizer_lr (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) optimizer_weight_decay (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) OutlierRecord (class in opentau.policies.outlier_utils) output_dir (opentau.configs.train.TrainPipelineConfig attribute) output_features (opentau.configs.policies.PreTrainedConfig attribute) output_path (opentau.configs.ros2lerobot.RosToLeRobotConfig attribute), [1]

P

pa_type (opentau.datasets.video_utils.VideoFrame attribute) pad_discrete_tokens() (in module opentau.policies.pi05.modeling_pi05) (in module opentau.policies.pi05_mem.modeling_pi05) (in module opentau.policies.pi06.modeling_pi06) (in module opentau.policies.pi07.low_level.modeling_pi07_low_level) (in module opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) pad_mask (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.ContextItem attribute) pad_to_patch_multiple() (in module opentau.utils.vision_utils) pad_vector() (in module opentau.datasets.dataset_mixture) (opentau.datasets.lerobot_dataset.BaseDataset static method) PaliGemmaWithExpertConfig (class in opentau.policies.pi0.paligemma_with_expert) (class in opentau.policies.pi05.paligemma_with_expert) PaliGemmaWithExpertModel (class in opentau.policies.pi0.paligemma_with_expert) (class in opentau.policies.pi05.paligemma_with_expert) parse_arg() (in module opentau.configs.parser) parse_plugin_args() (in module opentau.configs.parser) patch_grid_hw() (in module opentau.utils.vision_utils) patched_gemma_config_init() (in module opentau.utils.transformers_patch) patched_gemma_decoder_layer_init() (in module opentau.utils.transformers_patch) patched_gemma_model_init() (in module opentau.utils.transformers_patch) patched_gemma_pretrained_model_init_weights() (in module opentau.utils.transformers_patch) patched_paligemma_model_get_image_features() (in module opentau.utils.transformers_patch) PatchedGemmaRMSNorm (class in opentau.utils.transformers_patch) patches_applied() (in module opentau.utils.monkey_patch) per_dataset_stats (opentau.datasets.dataset_mixture.DatasetMixtureMetadata attribute) per_group_projection (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) per_norm_key_stats (opentau.datasets.dataset_mixture.DatasetMixtureMetadata attribute) PerGroupLinear (class in opentau.policies.layers) PerSampleLoss (class in opentau.policies.utils) PI05Config (class in opentau.policies.pi05.configuration_pi05) PI05ContinuousStateConfig (class in opentau.policies.pi05.configuration_pi05) PI05FlowMatching (class in opentau.policies.pi05.modeling_pi05) PI05MemConfig (class in opentau.policies.pi05_mem.configuration_pi05) PI05MemFlowMatching (class in opentau.policies.pi05_mem.modeling_pi05) PI05MemPolicy (class in opentau.policies.pi05_mem.modeling_pi05) PI05Policy (class in opentau.policies.pi05.modeling_pi05) PI06Config (class in opentau.policies.pi06.configuration_pi06) PI06FlowMatching (class in opentau.policies.pi06.modeling_pi06) PI06Policy (class in opentau.policies.pi06.modeling_pi06) PI07HighLevelPlannerConfig (class in opentau.policies.pi07.high_level_planner.configuration_pi07_high_level) (class in opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level) PI07HighLevelPlannerModel (class in opentau.policies.pi07.high_level_planner.modeling_pi07_high_level) (class in opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level) PI07HighLevelPlannerPolicy (class in opentau.policies.pi07.high_level_planner.modeling_pi07_high_level) (class in opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level) PI07LowLevelConfig (class in opentau.policies.pi07.low_level.configuration_pi07_low_level) PI07LowLevelFlowMatching (class in opentau.policies.pi07.low_level.modeling_pi07_low_level) PI07LowLevelPolicy (class in opentau.policies.pi07.low_level.modeling_pi07_low_level) PI07PaligemmaLowLevelConfig (class in opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level) PI07PaligemmaLowLevelFlowMatching (class in opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) PI07PaligemmaLowLevelPolicy (class in opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) PI0Config (class in opentau.policies.pi0.configuration_pi0) PI0FlowMatching (class in opentau.policies.pi0.modeling_pi0) PI0Policy (class in opentau.policies.pi0.modeling_pi0) planner (opentau.configs.train.TrainPipelineConfig attribute) PlannerConfig (class in opentau.configs.deployment) PluginLoadError point_to_loc_tokens() (in module opentau.datasets.grounding.loc_codec) policy (opentau.configs.train.TrainPipelineConfig attribute) PolicyFeature (class in opentau.configs.types) populate_queues() (in module opentau.policies.utils) port (opentau.configs.deployment.ServerConfig attribute) predict_action_chunk() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) predict_response (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) predict_value() (opentau.policies.value.modeling_value.ValueFunction method) prefetch_factor (opentau.configs.train.TrainPipelineConfig attribute) prepare_discrete_actions() (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method)

prepare_discrete_state() (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.value.modeling_value.ValueFunction method) prepare_images() (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.value.modeling_value.ValueFunction method) prepare_language() (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) (opentau.policies.value.modeling_value.ValueFunction method) prepare_metadata() (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) prepare_multimodal_inputs() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) prepare_next_memory() (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) prepare_response() (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) (opentau.policies.value.modeling_value.ValueFunction method) prepare_state() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) prepare_subgoal_images() (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) prepare_videos() (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) preprocess_observation() (in module opentau.envs.utils) pretrained_backbone_repo_id (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.cosmos3_nano.configuration_cosmos3_nano.Cosmos3NanoConfig attribute) pretrained_path (opentau.configs.policies.PreTrainedConfig attribute) PreTrainedConfig (class in opentau.configs.policies) PreTrainedPolicy (class in opentau.policies.pretrained) proj_width (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) project (opentau.configs.default.WandBConfig attribute) ProjectionRemapError prompt_max_length (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) prompt_substitutions (opentau.configs.default.DatasetConfig attribute) protected_dirs() (opentau.utils.train_utils.RunningBestTracker method) prune_old_checkpoints() (in module opentau.utils.train_utils) pull_from_repo() (opentau.datasets.lerobot_dataset.LeRobotDataset method) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) push_to_hub() (opentau.datasets.lerobot_dataset.LeRobotDataset method) (opentau.utils.hub.HubMixin method)

Q

quality (opentau.envs.configs.EnvMetadataConfig attribute) Qwen3ActionExpert (class in opentau.policies.cosmos3.qwen3vl_with_expert) Qwen3ExpertAttention (class in opentau.policies.cosmos3.qwen3vl_with_expert)

Qwen3ExpertDecoderLayer (class in opentau.policies.cosmos3.qwen3vl_with_expert) Qwen3ExpertMLP (class in opentau.policies.cosmos3.qwen3vl_with_expert) Qwen3VLWithExpertModel (class in opentau.policies.cosmos3.qwen3vl_with_expert)

R

random_order (opentau.datasets.transforms.ImageTransformsConfig attribute) RandomSubsetApply (class in opentau.datasets.transforms) recording_root (opentau.configs.default.EvalConfig attribute) RefError register() (opentau.utils.train_utils.RunningBestTracker method) render() (opentau.envs.robocasa.RoboCasaEnv method) render_mode (opentau.envs.configs.LiberoEnv attribute) (opentau.envs.configs.RoboCasaEnv attribute) repo_id (opentau.configs.default.DatasetConfig attribute) (opentau.datasets.lerobot_dataset.DatasetMetadata attribute) (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute) require_non_empty_control_mode (opentau.configs.default.DatasetMixtureConfig attribute) require_non_empty_robot_type (opentau.configs.default.DatasetMixtureConfig attribute) resample_and_trim_video() (in module opentau.datasets.video_utils) reseed_new_ranks_on_resume() (in module opentau.utils.train_utils) reset() (opentau.envs.robocasa.RoboCasaEnv method) (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) (opentau.policies.pretrained.PreTrainedPolicy method) (opentau.policies.value.modeling_value.ValueFunction method) (opentau.utils.logging_utils.AverageMeter method) reset_averages() (opentau.utils.logging_utils.MetricsTracker method) reset_parameters() (opentau.policies.layers.PerGroupLinear method) resize_imgs_with_padding (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) resize_with_pad() (in module opentau.policies.pi0.modeling_pi0) (in module opentau.policies.pi05.modeling_pi05) (in module opentau.policies.pi05_mem.modeling_pi05) (in module opentau.policies.pi06.modeling_pi06) (in module opentau.policies.pi07.high_level_planner.modeling_pi07_high_level) (in module opentau.policies.pi07.low_level.modeling_pi07_low_level) (in module opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level) (in module opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level) (in module opentau.policies.value.modeling_value) (opentau.datasets.lerobot_dataset.BaseDataset method) resolution (opentau.configs.train.TrainPipelineConfig attribute) (opentau.datasets.lerobot_dataset.BaseDataset attribute) resolve_delta_timestamps() (in module opentau.datasets.factory) resolve_feature_mapping() (in module opentau.datasets.standard_data_format_mapping) resolve_num_datasets() (in module opentau.policies.normalize) resolve_refs() (in module opentau.configs.refs)

resolve_refs_to_tempfile() (in module opentau.configs.refs) resolve_selected_episodes() (in module opentau.datasets.lerobot_dataset) response_drop_prob (opentau.configs.default.DatasetMixtureConfig attribute) response_indicator_max_length (opentau.policies.pi05.configuration_pi05.PI05Config attribute) response_max_length (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) result (opentau.utils.benchmark.TimeBenchmark property) result_ms (opentau.utils.benchmark.TimeBenchmark property) resume (opentau.configs.train.TrainPipelineConfig attribute) retry_random_on_failure() (in module opentau.datasets.lerobot_dataset) revision (opentau.configs.default.DatasetConfig attribute) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute) reward_config (opentau.policies.value.configuration_value.ValueConfig attribute) reward_delta_indices (opentau.configs.policies.PreTrainedConfig property) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config property) (opentau.policies.pi0.configuration_pi0.PI0Config property) (opentau.policies.pi05.configuration_pi05.PI05Config property) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig property) (opentau.policies.pi06.configuration_pi06.PI06Config property) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig property) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig property) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig property) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig property) (opentau.policies.value.configuration_value.ValueConfig property) reward_normalizer (opentau.configs.reward.RewardConfig attribute) RewardConfig (class in opentau.configs.reward) RLDXVideoEncoder (class in opentau.policies.pi05_mem.rldx_video_encoder) RoboCasaEnv (class in opentau.envs.configs) (class in opentau.envs.robocasa) RoboCasaGoalFrameSubgoalGenerator (class in opentau.envs.subgoal) robot_state_feature (opentau.configs.policies.PreTrainedConfig property) robot_type (opentau.configs.default.DatasetConfig attribute) (opentau.configs.default.EvalConfig attribute) (opentau.configs.deployment.ServerConfig attribute) (opentau.configs.ros2lerobot.RosToLeRobotConfig attribute), [1] (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) (opentau.envs.configs.EnvMetadataConfig attribute) root (opentau.configs.default.DatasetConfig attribute) (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute) rope_type (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) ros_topic (opentau.configs.types.ROSFeature attribute), [1] ROSFeature (class in opentau.configs.types) RosToLeRobotConfig (class in opentau.configs.ros2lerobot) run_expert() (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3VLWithExpertModel method) run_id (opentau.configs.default.WandBConfig attribute) run_prefix() (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3VLWithExpertModel method) run_with_fake_tensor() (in module opentau.utils.fake_tensor) running_best_count (opentau.configs.train.TrainPipelineConfig attribute) running_best_is_improvement() (in module opentau.utils.train_utils) running_best_metric (opentau.configs.train.TrainPipelineConfig attribute) RunningBestTracker (class in opentau.utils.train_utils)

S

safe_stop_image_writer() (in module opentau.datasets.image_writer) safety_buffer (opentau.policies.pi0.configuration_pi0.PI0Config attribute) sample_actions() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3FlowMatching method) (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerModel method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) (opentau.policies.value.modeling_value.ValueFunction method) sample_images() (in module opentau.datasets.compute_stats) sample_indices() (in module opentau.datasets.compute_stats) sample_noise() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3FlowMatching method) (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) sample_time() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3FlowMatching method) (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi05.modeling_pi05.PI05FlowMatching method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemFlowMatching method) (opentau.policies.pi06.modeling_pi06.PI06FlowMatching method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelFlowMatching method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelFlowMatching method) save_checkpoint (opentau.configs.train.TrainPipelineConfig attribute) save_checkpoint() (in module opentau.utils.train_utils) save_episode() (opentau.datasets.lerobot_dataset.LeRobotDataset method) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) save_freq (opentau.configs.train.TrainPipelineConfig attribute) save_image() (opentau.datasets.image_writer.AsyncImageWriter method) save_normalization_stats (opentau.configs.policies.PreTrainedConfig attribute) save_pretrained() (opentau.utils.hub.HubMixin method) save_rng_state() (in module opentau.utils.random_utils) save_running_best_state() (in module opentau.utils.train_utils) save_training_step() (in module opentau.utils.train_utils) say() (in module opentau.utils.utils) scheduler (opentau.configs.train.TrainPipelineConfig attribute) scheduler_decay_lr (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) scheduler_decay_steps (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) scheduler_warmup_steps (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) (opentau.policies.value.configuration_value.ValueConfig attribute) sdpa_attention_forward() (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) seed (opentau.configs.default.EvalConfig attribute) (opentau.configs.train.TrainPipelineConfig attribute) seed_list (opentau.configs.default.EvalConfig attribute) seeded_context() (in module opentau.utils.random_utils) select_action() (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy method) (opentau.policies.pi0.modeling_pi0.PI0Policy method) (opentau.policies.pi05.modeling_pi05.PI05Policy method) (opentau.policies.pi05_mem.modeling_pi05.PI05MemPolicy method) (opentau.policies.pi06.modeling_pi06.PI06Policy method) (opentau.policies.pi07.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy method) (opentau.policies.pi07_paligemma.high_level_planner.modeling_pi07_high_level.PI07HighLevelPlannerPolicy method) (opentau.policies.pi07_paligemma.low_level.modeling_pi07_low_level.PI07PaligemmaLowLevelPolicy method) (opentau.policies.pretrained.PreTrainedPolicy method) (opentau.policies.value.modeling_value.ValueFunction method)

serialize_dict() (in module opentau.datasets.utils) serialize_numpy_rng_state() (in module opentau.utils.random_utils) serialize_python_rng_state() (in module opentau.utils.random_utils) serialize_rng_state() (in module opentau.utils.random_utils) serialize_torch_rng_state() (in module opentau.utils.random_utils) server (opentau.configs.train.TrainPipelineConfig attribute) ServerConfig (class in opentau.configs.deployment) set_delta_timestamps() (opentau.datasets.online_buffer.OnlineBuffer method) set_proc_accelerator() (in module opentau.utils.accelerate_utils) set_requires_grad() (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3VLWithExpertModel method) (opentau.policies.pi0.modeling_pi0.PI0FlowMatching method) (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) set_rng_state() (in module opentau.utils.random_utils) set_seed() (in module opentau.utils.random_utils) shallow_copy_with_dropout() (opentau.datasets.lerobot_dataset.BaseDataset method) shape (opentau.configs.types.PolicyFeature attribute) (opentau.configs.types.ROSFeature attribute), [1] shapes (opentau.datasets.lerobot_dataset.DatasetMetadata property) SharpnessJitter (class in opentau.datasets.transforms) SiglipGemmaValueConfig (class in opentau.policies.value.siglip_gemma) SiglipGemmaValueModel (class in opentau.policies.value.siglip_gemma) silence_output_unless_error() (in module opentau.utils.io_utils) skip_input_resolution_check (opentau.configs.policies.PreTrainedConfig attribute) skip_normalization_weights (opentau.configs.policies.PreTrainedConfig attribute) skip_timestamp_check (opentau.configs.default.DatasetConfig attribute) (opentau.configs.default.DatasetMixtureConfig attribute) source (opentau.policies.outlier_utils.OutlierRecord attribute) spacetime_layer_stride (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) SpaceTimeEncoderLayerWrapper (class in opentau.policies.pi07.video_encoder) SpaceTimeSiglipVideoEncoder (class in opentau.policies.pi07.video_encoder) speed (opentau.envs.configs.EnvMetadataConfig attribute) split (opentau.envs.configs.RoboCasaEnv attribute) standardize (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) start_episode() (opentau.envs.subgoal.LiberoLastFrameSubgoalGenerator method) (opentau.envs.subgoal.RoboCasaGoalFrameSubgoalGenerator method) (opentau.envs.subgoal.SubgoalImageGenerator method) start_image_writer() (opentau.datasets.lerobot_dataset.LeRobotDataset method) STATE (opentau.configs.types.FeatureType attribute) state_type (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05.configuration_pi05.PI05ContinuousStateConfig attribute) StateExtractor (class in opentau.utils.ros2lerobot) stats (opentau.configs.default.DatasetConfig attribute) (opentau.datasets.lerobot_dataset.DatasetMetadata attribute) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute) step() (opentau.envs.robocasa.RoboCasaEnv method) (opentau.utils.logging_utils.MetricsTracker method) step_dir() (opentau.utils.train_utils.RunningBestTracker method) steps (opentau.configs.train.TrainPipelineConfig attribute) stop() (opentau.datasets.image_writer.AsyncImageWriter method) stop_image_writer() (opentau.datasets.lerobot_dataset.LeRobotDataset method) strip_deprecated_fields_from_json() (in module opentau.configs.policies) STSSEncoder (class in opentau.policies.pi05_mem.motion_module) STSSExtraction (class in opentau.policies.pi05_mem.motion_module) STSSIntegration (class in opentau.policies.pi05_mem.motion_module) STSSTransformation (class in opentau.policies.pi05_mem.motion_module) sub_configs (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertConfig attribute) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertConfig attribute) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertConfig attribute) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertConfig attribute) (opentau.policies.value.siglip_gemma.SiglipGemmaValueConfig attribute) subgoal_drop_prob (opentau.configs.default.DatasetMixtureConfig attribute) subgoal_end_of_segment_prob (opentau.configs.default.DatasetMixtureConfig attribute) subgoal_frames_dirs (opentau.envs.configs.RoboCasaEnv attribute) subgoal_source (opentau.envs.configs.LiberoEnv attribute) SubgoalImageGenerator (class in opentau.envs.subgoal) subtask_indicator_max_length (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) sum (opentau.policies.utils.PerSampleLoss attribute) supports_torch_compile (opentau.policies.cosmos3.modeling_cosmos3.Cosmos3Policy attribute) (opentau.policies.pi05.modeling_pi05.PI05Policy attribute) (opentau.policies.pi07.low_level.modeling_pi07_low_level.PI07LowLevelPolicy attribute) (opentau.policies.pretrained.PreTrainedPolicy attribute) suppress_control_mode_warning() (in module opentau.datasets.lerobot_dataset) suppress_spacetime_temporal() (in module opentau.policies.pi07.video_encoder) system_prompt_key (opentau.configs.deployment.PlannerConfig attribute)

T

tags (opentau.configs.default.WandBConfig attribute) task (opentau.envs.configs.EnvConfig attribute) (opentau.envs.configs.LiberoEnv attribute) (opentau.envs.configs.RoboCasaEnv attribute) task_ids (opentau.envs.configs.LiberoEnv attribute) task_to_task_index (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute) tasks (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata attribute) temperature (opentau.configs.deployment.PlannerConfig attribute) text_model (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3VLWithExpertModel property) tfs (opentau.datasets.transforms.ImageTransformsConfig attribute) TimeBenchmark (class in opentau.utils.benchmark) TIMESTAMP_KEY (opentau.datasets.online_buffer.OnlineBuffer attribute) to_bfloat16_like_physical_intelligence() (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) to_dict() (opentau.configs.train.TrainPipelineConfig method) (opentau.utils.logging_utils.MetricsTracker method) (opentau.utils.train_utils.RunningBestTracker method) to_wandb_kwargs() (opentau.configs.default.WandBConfig method) tokenizer_max_length (opentau.policies.pi0.configuration_pi0.PI0Config attribute) tolerance_s (opentau.configs.default.DatasetConfig attribute) (opentau.configs.default.DatasetMixtureConfig attribute) topic_attribute (opentau.configs.types.ROSFeature attribute), [1] torch_compile_mode (opentau.configs.policies.PreTrainedConfig attribute) torch_cumsum_patch() (in module opentau.utils.monkey_patch) torch_fake_tensor_beta_validate_args_patch() (in module opentau.utils.monkey_patch) torch_fake_tensor_is_inf_patch() (in module opentau.utils.monkey_patch)

torch_fake_tensor_module_to_patch() (in module opentau.utils.monkey_patch) torch_fake_tensor_to_numpy_patch() (in module opentau.utils.monkey_patch) torch_full_patch() (in module opentau.utils.monkey_patch) torch_load_patch() (in module opentau.utils.monkey_patch) torch_pow_patch() (in module opentau.utils.monkey_patch) total_chunks (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) total_episodes (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) total_frames (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) total_tasks (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) trace_nans (opentau.configs.train.TrainPipelineConfig attribute) train() (opentau.policies.cosmos3.qwen3vl_with_expert.Qwen3VLWithExpertModel method) (opentau.policies.pi0.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi05.paligemma_with_expert.PaliGemmaWithExpertModel method) (opentau.policies.pi06.gemma3_with_expert.Gemma3WithExpertModel method) (opentau.policies.pi07.gemma3_with_expert.Gemma3WithExpertModel method) train_expert_only (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi0.configuration_pi0.PI0Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) (opentau.policies.pi06.configuration_pi06.PI06Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) train_state_proj (opentau.policies.pi0.configuration_pi0.PI0Config attribute) TrainPipelineConfig (class in opentau.configs.train) transform() (opentau.datasets.transforms.SharpnessJitter method) type (opentau.configs.policies.PreTrainedConfig property) (opentau.configs.types.PolicyFeature attribute) (opentau.datasets.transforms.ImageTransformConfig attribute) (opentau.envs.configs.EnvConfig property)

U

uint8_arr_to_png_bytes() (in module opentau.utils.libero_dataset_recorder) unflatten_dict() (in module opentau.datasets.utils) Unnormalize (class in opentau.policies.normalize) update() (opentau.utils.logging_utils.AverageMeter method) update_last_checkpoint() (in module opentau.utils.train_utils) update_video_info() (opentau.datasets.lerobot_dataset.LeRobotDataset method) (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata method) use_amp (opentau.configs.policies.PreTrainedConfig attribute) use_async_envs (opentau.configs.default.EvalConfig attribute) use_awr (opentau.policies.pi0.configuration_pi0.PI0Config attribute)

use_cache (opentau.policies.pi0.configuration_pi0.PI0Config attribute) use_imagenet_stats (opentau.configs.default.DatasetConfig attribute) use_modality_embedding (opentau.policies.pi05.configuration_pi05.PI05Config attribute) use_motion (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig attribute) use_policy_training_preset (opentau.configs.train.TrainPipelineConfig attribute) use_torch_compile (opentau.configs.policies.PreTrainedConfig attribute) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config attribute) (opentau.policies.pi05.configuration_pi05.PI05Config attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) user_prompt_key (opentau.configs.deployment.PlannerConfig attribute)

V

val_enable_optional_key_dropout (opentau.configs.default.DatasetMixtureConfig attribute) val_enable_prompt_substitution (opentau.configs.default.DatasetMixtureConfig attribute) val_freq (opentau.configs.train.TrainPipelineConfig attribute) val_split_ratio (opentau.configs.default.DatasetConfig attribute) (opentau.configs.default.DatasetMixtureConfig attribute) validate() (opentau.configs.train.TrainPipelineConfig method) validate_episode_buffer() (in module opentau.datasets.utils) validate_feature_dtype_and_shape() (in module opentau.datasets.utils) validate_feature_image_or_video() (in module opentau.datasets.utils) validate_feature_numpy_array() (in module opentau.datasets.utils) validate_feature_string() (in module opentau.datasets.utils) validate_features() (opentau.configs.policies.PreTrainedConfig method) (opentau.policies.cosmos3.configuration_cosmos3.Cosmos3Config method) (opentau.policies.pi0.configuration_pi0.PI0Config method) (opentau.policies.pi05.configuration_pi05.PI05Config method) (opentau.policies.pi05_mem.configuration_pi05.PI05MemConfig method) (opentau.policies.pi06.configuration_pi06.PI06Config method) (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig method) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig method) (opentau.policies.pi07_paligemma.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig method) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig method) (opentau.policies.value.configuration_value.ValueConfig method) validate_features_presence() (in module opentau.datasets.utils) validate_frame() (in module opentau.datasets.utils) validate_input_resolution() (opentau.configs.policies.PreTrainedConfig method)

value (opentau.policies.outlier_utils.OutlierRecord attribute) ValueConfig (class in opentau.policies.value.configuration_value) ValueFunction (class in opentau.policies.value.modeling_value) ValueModel (class in opentau.policies.value.modeling_value) values() (opentau.datasets.utils.IterableNamespace method) vector_resample_strategy (opentau.configs.default.DatasetMixtureConfig attribute) video_backend (opentau.configs.default.DatasetConfig attribute) (opentau.datasets.lerobot_dataset.LeRobotDataset attribute) video_crf (opentau.configs.default.EvalConfig attribute) video_frame_stride (opentau.configs.default.EvalConfig attribute) video_keys (opentau.datasets.lerobot_dataset.DatasetMetadata property) video_path (opentau.datasets.lerobot_dataset.LeRobotDatasetMetadata property) video_preset (opentau.configs.default.EvalConfig attribute) VideoFrame (class in opentau.datasets.video_utils) vision_tower (opentau.policies.pi05_mem.rldx_video_encoder.RLDXVideoEncoder property) (opentau.policies.pi07.video_encoder.SpaceTimeSiglipVideoEncoder property) VISUAL (opentau.configs.types.FeatureType attribute) visualization_height (opentau.envs.configs.RoboCasaEnv attribute) visualization_width (opentau.envs.configs.RoboCasaEnv attribute) vlm_config (opentau.policies.pi07.high_level_planner.configuration_pi07_high_level.PI07HighLevelPlannerConfig attribute) (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) vqa (opentau.configs.default.DatasetConfig attribute) VQADataset (class in opentau.datasets.vqa.base) VQADatasetMetadata (class in opentau.datasets.lerobot_dataset) VSRDataset (class in opentau.datasets.vqa.vsr)

W

wait_until_done() (opentau.datasets.image_writer.AsyncImageWriter method) wandb (opentau.configs.train.TrainPipelineConfig attribute) WandBConfig (class in opentau.configs.default) warn() (in module opentau.configs.train) warn_deprecated_latency_fields() (in module opentau.configs.policies) warn_deprecated_latency_fields_from_dict() (in module opentau.configs.policies) warn_missing_keys() (in module opentau.policies.normalize) warn_outlier_threshold (opentau.policies.pi07.low_level.configuration_pi07_low_level.PI07LowLevelConfig attribute) (opentau.policies.pi07_paligemma.low_level.configuration_pi07_low_level.PI07PaligemmaLowLevelConfig attribute) warn_removed_policy_fields() (in module opentau.configs.policies) warn_removed_policy_fields_from_dict() (in module opentau.configs.policies) weight (opentau.datasets.transforms.ImageTransformConfig attribute) WeightedDatasetMixture (class in opentau.datasets.dataset_mixture)

weights (opentau.configs.default.DatasetMixtureConfig attribute) worker_process() (in module opentau.datasets.image_writer) worker_thread_loop() (in module opentau.datasets.image_writer) wrap() (in module opentau.configs.parser) write_episode() (in module opentau.datasets.utils) write_episode_stats() (in module opentau.datasets.utils) write_image() (in module opentau.datasets.image_writer) write_info() (in module opentau.datasets.utils) write_json() (in module opentau.datasets.utils) write_jsonlines() (in module opentau.datasets.utils) write_stats() (in module opentau.datasets.utils) write_stripped_config_to_tempfile() (in module opentau.configs.policies) write_task() (in module opentau.datasets.utils) write_video() (in module opentau.utils.io_utils)

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xywh_to_loc_tokens() (in module opentau.datasets.grounding.loc_codec)

xyxy_to_loc_tokens() (in module opentau.datasets.grounding.loc_codec)