Index

_

__init__() (protomotions.agents.amp.agent.AMP method) (protomotions.agents.amp.config.AMPAgentConfig method) (protomotions.agents.amp.config.AMPModelConfig method) (protomotions.agents.amp.config.AMPParametersConfig method) (protomotions.agents.amp.config.DiscriminatorConfig method) (protomotions.agents.amp.model.AMPModel method) (protomotions.agents.amp.model.Discriminator method) (protomotions.agents.ase.agent.ASE method) (protomotions.agents.ase.config.ASEAgentConfig method) (protomotions.agents.ase.config.ASEDiscriminatorEncoderConfig method) (protomotions.agents.ase.config.ASEModelConfig method) (protomotions.agents.ase.config.ASEParametersConfig method) (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) (protomotions.agents.ase.model.ASEModel method) (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.base_agent.config.BaseAgentConfig method) (protomotions.agents.base_agent.config.BaseModelConfig method) (protomotions.agents.base_agent.config.MaxEpisodeLengthManagerConfig method) (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig method) (protomotions.agents.base_agent.config.OptimizerConfig method) (protomotions.agents.base_agent.model.BaseModel method) (protomotions.agents.base_agent.model.RolloutStateSpec method) (protomotions.agents.callbacks.slurm_autoresume_srun.AutoResumeCallbackSrun method) (protomotions.agents.common.autoencoder.AutoEncoder method) (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) (protomotions.agents.common.common.ModuleContainer method) (protomotions.agents.common.common.NormObsBase method) (protomotions.agents.common.common.ObsProcessor method) (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig method) (protomotions.agents.common.config.MLPLayerConfig method) (protomotions.agents.common.config.MLPWithConcatConfig method) (protomotions.agents.common.config.ModuleContainerConfig method) (protomotions.agents.common.config.ModuleOperationConfig method) (protomotions.agents.common.config.ModuleOperationExpandConfig method) (protomotions.agents.common.config.ModuleOperationForwardConfig method) (protomotions.agents.common.config.ModuleOperationPermuteConfig method) (protomotions.agents.common.config.ModuleOperationReshapeConfig method) (protomotions.agents.common.config.ModuleOperationSphereProjectionConfig method) (protomotions.agents.common.config.ModuleOperationSqueezeConfig method) (protomotions.agents.common.config.ModuleOperationUnsqueezeConfig method) (protomotions.agents.common.config.NormObsBaseConfig method) (protomotions.agents.common.config.ObsProcessorConfig method) (protomotions.agents.common.config.PretrainedModelConfig method) (protomotions.agents.common.config.TransformerConfig method) (protomotions.agents.common.discrete_latent.DiscreteLatentDecoder method) (protomotions.agents.common.discrete_latent.DiscreteLatentQuantizer method) (protomotions.agents.common.discrete_latent.DiscreteLatentTargetEncoder method) (protomotions.agents.common.discrete_latent.FSQTokenization method) (protomotions.agents.common.fsq.FiniteScalarQuantizer method) (protomotions.agents.common.fsq.FSQAutoEncoder method) (protomotions.agents.common.fsq_config.FSQAutoEncoderConfig method) (protomotions.agents.common.mlp.MLPWithConcat method) (protomotions.agents.common.supervision.SupervisionLossConfig method) (protomotions.agents.common.transformer.Transformer method) (protomotions.agents.evaluators.ActionSmoothnessAggregateMetric method) (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) (protomotions.agents.evaluators.config.EvaluatorConfig method) (protomotions.agents.evaluators.config.MimicEvaluatorConfig method) (protomotions.agents.evaluators.config.MotionWeightsRulesConfig method) (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.mimic_evaluator.MimicEpisodeContext method) (protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator method) (protomotions.agents.evaluators.MimicEvaluator method) (protomotions.agents.evaluators.MotionMetrics method) (protomotions.agents.evaluators.smoothness_calculator.SmoothnessCalculator method) (protomotions.agents.evaluators.SmoothnessAggregateMetric method) (protomotions.agents.evaluators.SmoothnessCalculator method) (protomotions.agents.fine_tuning.config.FineTuningAgentConfig method) (protomotions.agents.fine_tuning.FineTuningAgentConfig method) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) (protomotions.agents.peft.adapters.LoRALayer method) (protomotions.agents.peft.adapters.TransformerEncoderWithConditioning method) (protomotions.agents.peft.adapters.TransformerLayerWithDoRA method) (protomotions.agents.peft.adapters.TransformerLayerWithLoRA method) (protomotions.agents.peft.config.TransformerPEFTConfig method) (protomotions.agents.peft.model.DiscretePriorPEFTModel method) (protomotions.agents.peft.prior_agent.DiscretePriorPEFTRLFTAgent method) (protomotions.agents.peft.prior_amp_agent.DiscretePriorPEFTRLFTAMPAgent method) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPAgentConfig method) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPModelConfig method) (protomotions.agents.peft.prior_amp_model.DiscretePriorPEFTRLFTAMPModel method) (protomotions.agents.peft.prior_config.DiscretePriorPEFTActorConfig method) (protomotions.agents.peft.prior_config.DiscretePriorPEFTBaseModelConfig method) (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig method) (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTAgentConfig method) (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTModelConfig method) (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTAgentConfig method) (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTModelConfig method) (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method) (protomotions.agents.peft.sft_agent.DiscretePriorPEFTSFTAgent method) (protomotions.agents.ppo.agent.PPO method) (protomotions.agents.ppo.config.AdaptiveLRConfig method) (protomotions.agents.ppo.config.AdvantageNormalizationConfig method) (protomotions.agents.ppo.config.L2C2Config method) (protomotions.agents.ppo.config.PPOActorConfig method) (protomotions.agents.ppo.config.PPOAgentConfig method) (protomotions.agents.ppo.config.PPOModelConfig method) (protomotions.agents.ppo.model.PPOActor method) (protomotions.agents.ppo.model.PPOModel method) (protomotions.agents.supervised.config.SupervisedAgentConfig method) (protomotions.agents.supervised.masked_mimic_config.KLDScheduleConfig method) (protomotions.agents.supervised.masked_mimic_config.MaskedMimicModelConfig method) (protomotions.agents.supervised.masked_mimic_config.MaskedMimicSupervisedAgentConfig method) (protomotions.agents.supervised.masked_mimic_config.MaskedMimicVAEConfig method) (protomotions.agents.supervised.masked_mimic_model.MaskedMimicModel method) (protomotions.agents.utils.data.DictDataset method) (protomotions.agents.utils.data.ExperienceBuffer method) (protomotions.agents.utils.metering.TensorAverageMeter method) (protomotions.agents.utils.metering.TensorAverageMeterDict method) (protomotions.agents.utils.metering.Timer method) (protomotions.agents.utils.metering.TimeReport method) (protomotions.agents.utils.normalization.RewardRunningMeanStd method) (protomotions.agents.utils.normalization.RunningMeanStd method) (protomotions.agents.utils.replay_buffer.ReplayBuffer method) (protomotions.agents.utils.step_tracker.StepTracker method) (protomotions.robot_configs.amp.AMPRobotConfig method) (protomotions.robot_configs.base.RobotConfig method) (protomotions.robot_configs.g1.G1RobotConfig method) (protomotions.robot_configs.h1_2.H1_2RobotConfig method) (protomotions.robot_configs.smpl.SmplRobotConfig method) (protomotions.robot_configs.smplx.SMPLXRobotConfig method) (protomotions.utils.export_utils.ActionExportModule method) (protomotions.utils.export_utils.ObservationExportModule method) (protomotions.utils.export_utils.ONNXExportWrapper method) (protomotions.utils.export_utils.UnifiedPipelineModule method) (protomotions.utils.fabric_config.FabricConfig method)

__post_init__() (protomotions.robot_configs.base.RobotConfig method) _actor (protomotions.agents.amp.model.AMPModel attribute) (protomotions.agents.ase.model.ASEModel attribute) (protomotions.agents.ppo.model.PPOModel attribute) _critic (protomotions.agents.amp.model.AMPModel attribute) (protomotions.agents.ase.model.ASEModel attribute) (protomotions.agents.ppo.model.PPOModel attribute) _disc_critic (protomotions.agents.amp.model.AMPModel attribute) (protomotions.agents.ase.model.ASEModel attribute) _discriminator (protomotions.agents.amp.model.AMPModel attribute) (protomotions.agents.ase.model.ASEModel attribute) _head (protomotions.agents.utils.replay_buffer.ReplayBuffer attribute) _is_full (protomotions.agents.utils.replay_buffer.ReplayBuffer attribute) _mi_critic (protomotions.agents.ase.model.ASEModel attribute)

A

accelerator (protomotions.utils.fabric_config.FabricConfig attribute) ActionExportModule (class in protomotions.utils.export_utils) ActionSmoothnessAggregateMetric (class in protomotions.agents.evaluators) activation (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) (protomotions.agents.common.config.MLPLayerConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute) actor (protomotions.agents.peft.prior_config.DiscretePriorPEFTBaseModelConfig attribute) (protomotions.agents.ppo.agent.PPO attribute) (protomotions.agents.ppo.config.PPOModelConfig attribute) actor_clip_frac_threshold (protomotions.agents.ppo.config.PPOAgentConfig attribute) actor_logstd (protomotions.agents.ppo.config.PPOActorConfig attribute) actor_module (protomotions.agents.ppo.agent.PPO property) actor_optimizer (protomotions.agents.peft.prior_config.DiscretePriorPEFTBaseModelConfig attribute) (protomotions.agents.ppo.config.PPOModelConfig attribute) actor_step() (protomotions.agents.peft.prior_agent.DiscretePriorPEFTRLFTAgent method) (protomotions.agents.ppo.agent.PPO method) adam_betas (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) adam_eps (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) adam_fallback_module_patterns (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) adam_fallback_parameter_patterns (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) adam_lr (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) adam_weight_decay (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) adapter_state_dict() (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) adaptive_lr (protomotions.agents.fine_tuning.config.FineTuningAgentConfig attribute) (protomotions.agents.ppo.config.PPOAgentConfig attribute) AdaptiveLRConfig (class in protomotions.agents.ppo.config) add() (protomotions.agents.utils.metering.TensorAverageMeter method) (protomotions.agents.utils.metering.TensorAverageMeterDict method) add_agent_info_to_next_obs() (protomotions.agents.base_agent.agent.BaseAgent method) add_agent_info_to_obs() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.base_agent.agent.BaseAgent method) add_positions() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) add_timer() (protomotions.agents.utils.metering.TimeReport method) advance() (protomotions.agents.utils.step_tracker.StepTracker method) advantage_normalization (protomotions.agents.fine_tuning.config.FineTuningAgentConfig attribute) (protomotions.agents.ppo.config.PPOAgentConfig attribute) AdvantageNormalizationConfig (class in protomotions.agents.ppo.config)

aggregate_scalar_metrics() (in module protomotions.agents.utils.training) AggregateMetric (class in protomotions.agents.evaluators) all_discriminator_weights() (protomotions.agents.amp.model.Discriminator method) (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) all_enc_weights() (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) all_weights() (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) alpha (protomotions.agents.peft.config.TransformerPEFTConfig attribute) alternative_quat_angle_axis() (protomotions.utils.rotations.TestQuatAngleAxis method) AMP (class in protomotions.agents.amp.agent) amp_parameters (protomotions.agents.amp.config.AMPAgentConfig attribute) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPAgentConfig attribute) AMPAgentConfig (class in protomotions.agents.amp.config) AMPModel (class in protomotions.agents.amp.model) AMPModelComponentsMixin (class in protomotions.agents.amp.model) AMPModelConfig (class in protomotions.agents.amp.config) AMPParametersConfig (class in protomotions.agents.amp.config) AMPRobotConfig (class in protomotions.robot_configs.amp) anchor_body_index (protomotions.robot_configs.base.RobotConfig attribute) anchor_body_name (protomotions.robot_configs.base.RobotConfig attribute) (protomotions.robot_configs.g1.G1RobotConfig attribute) apply_all_inference_overrides() (in module protomotions.utils.inference_utils) apply_config_overrides() (in module protomotions.utils.config_utils) apply_module_operations() (in module protomotions.agents.common.common) as_kwargs() (protomotions.utils.fabric_config.FabricConfig method) as_loggable_dict() (protomotions.utils.fabric_config.FabricConfig method) as_mesh() (in module protomotions.utils.mesh_utils) ASE (class in protomotions.agents.ase.agent) ase_parameters (protomotions.agents.ase.config.ASEAgentConfig attribute) ASEAgentConfig (class in protomotions.agents.ase.config) ASEDiscriminatorEncoder (class in protomotions.agents.ase.model) ASEDiscriminatorEncoderConfig (class in protomotions.agents.ase.config) ASEModel (class in protomotions.agents.ase.model) ASEModelConfig (class in protomotions.agents.ase.config) ASEParametersConfig (class in protomotions.agents.ase.config) asset (protomotions.robot_configs.base.RobotConfig attribute) AutoEncoder (class in protomotions.agents.common.autoencoder) AutoResumeCallbackSrun (class in protomotions.agents.callbacks.slurm_autoresume_srun)

B

BaseAgent (class in protomotions.agents.base_agent.agent) BaseAgentConfig (class in protomotions.agents.base_agent.config) BaseEnv (built-in class) BaseEvaluator (class in protomotions.agents.evaluators.base_evaluator) BaseModel (class in protomotions.agents.base_agent.model) BaseModelConfig (class in protomotions.agents.base_agent.config) batch_size (protomotions.agents.base_agent.config.BaseAgentConfig attribute) (protomotions.agents.fine_tuning.config.FineTuningAgentConfig attribute) batch_update_data() (protomotions.agents.utils.data.ExperienceBuffer method) before_play_steps() (protomotions.agents.callbacks.slurm_autoresume_srun.AutoResumeCallbackSrun method) betas (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) (protomotions.agents.base_agent.config.OptimizerConfig attribute) bottleneck() (protomotions.agents.common.autoencoder.AutoEncoder method) (protomotions.agents.common.fsq.FSQAutoEncoder method)

bound() (protomotions.agents.common.fsq.FiniteScalarQuantizer method) (protomotions.agents.common.fsq.FSQAutoEncoder method) bounds_loss() (in module protomotions.agents.utils.training) bounds_loss_coef (protomotions.agents.base_agent.config.BaseAgentConfig attribute) build_adapter_state_dict() (in module protomotions.agents.peft.utils.adapter_state) build_all_components() (in module protomotions.utils.component_builder) build_mlp() (in module protomotions.agents.common.mlp) build_motion_lib_from_config() (in module protomotions.utils.component_builder) build_norm() (protomotions.agents.common.common.NormObsBase method) build_prior_input() (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) build_scene_lib_from_config() (in module protomotions.utils.component_builder) build_simulator_from_config() (in module protomotions.utils.component_builder) build_standard_configs() (in module protomotions.utils.config_builder) build_terrain_from_config() (in module protomotions.utils.component_builder)

C

calc_frame_blend() (in module protomotions.utils.motion_interpolation_utils) calc_von_mises_fisher_enc_error() (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) calculate_extra_actor_loss() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.ppo.agent.PPO method) calculate_extra_loss() (protomotions.agents.supervised.agent.SupervisedAgent method) calculate_perplexity() (protomotions.agents.common.fsq.FiniteScalarQuantizer method) (protomotions.agents.common.fsq.FSQAutoEncoder method) callbacks (protomotions.utils.fabric_config.FabricConfig attribute) capture_reference() (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method) check_for_nans() (protomotions.agents.base_agent.agent.BaseAgent method) check_grad_mag (protomotions.agents.base_agent.config.BaseAgentConfig attribute) checkpoint_path (protomotions.agents.common.config.PretrainedModelConfig attribute) clamp_range (protomotions.agents.ppo.config.AdvantageNormalizationConfig attribute) clean_dict_for_storage() (in module protomotions.utils.config_utils) cleanup_after_evaluation() (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) (protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator method) (protomotions.agents.evaluators.MimicEvaluator method) clear() (protomotions.agents.utils.metering.TensorAverageMeter method) (protomotions.agents.utils.metering.TensorAverageMeterDict method) (protomotions.agents.utils.metering.Timer method) clear_peft (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) clear_timer() (protomotions.agents.utils.metering.TimeReport method) clip_critic_loss (protomotions.agents.ppo.config.PPOAgentConfig attribute) codes_to_indices() (protomotions.agents.common.discrete_latent.DiscreteLatentQuantizer method) (protomotions.agents.common.fsq.FiniteScalarQuantizer method) (protomotions.agents.common.fsq.FSQAutoEncoder method) collect_expert_rollout() (protomotions.agents.peft.sft_model.DiscretePriorPEFTSFTModel method) collect_rollout_step() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.supervised.agent.SupervisedAgent method) combine_moments() (in module protomotions.agents.utils.normalization) common_naming_to_robot_body_names (protomotions.robot_configs.base.RobotConfig attribute) compute() (protomotions.agents.evaluators.ActionSmoothnessAggregateMetric method) (protomotions.agents.evaluators.AggregateMetric method) (protomotions.agents.evaluators.SmoothnessAggregateMetric method) compute_bounding_box() (in module protomotions.utils.mesh_utils) compute_disc_reward() (protomotions.agents.amp.model.Discriminator method) compute_discrete_latent_ppo_loss() (in module protomotions.agents.common.latent) compute_finite_difference_jitter_reduce_each_motion() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) compute_jitter_reduce_each_motion() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) compute_mi_reward() (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) compute_model_loss() (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) (protomotions.agents.common.discrete_latent.DiscreteLatentTargetEncoder method) (protomotions.agents.supervised.masked_mimic_model.MaskedMimicModel method) compute_normalized_jerk_from_pos() (protomotions.agents.evaluators.smoothness_calculator.SmoothnessCalculator method) (protomotions.agents.evaluators.SmoothnessCalculator method) compute_rotation_jitter_reduce_each_motion() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) compute_smoothness_metrics() (protomotions.agents.evaluators.smoothness_calculator.SmoothnessCalculator method) (protomotions.agents.evaluators.SmoothnessCalculator method) compute_supervision_loss() (in module protomotions.agents.common.supervision)

compute_uniformity_loss() (protomotions.agents.ase.agent.ASE method) condition_key (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) conditional_discriminator (protomotions.agents.ase.config.ASEParametersConfig attribute) config (protomotions.agents.amp.agent.AMP attribute) (protomotions.agents.amp.model.AMPModel attribute) (protomotions.agents.amp.model.Discriminator attribute) (protomotions.agents.ase.agent.ASE attribute) (protomotions.agents.ase.model.ASEDiscriminatorEncoder attribute) (protomotions.agents.ase.model.ASEModel attribute) (protomotions.agents.base_agent.model.BaseModel attribute) (protomotions.agents.common.autoencoder.AutoEncoder attribute) (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer attribute) (protomotions.agents.common.common.ModuleContainer attribute) (protomotions.agents.common.common.ObsProcessor attribute) (protomotions.agents.common.fsq.FSQAutoEncoder attribute) (protomotions.agents.common.mlp.MLPWithConcat attribute) (protomotions.agents.ppo.agent.PPO attribute) (protomotions.agents.ppo.model.PPOModel attribute) config_path (protomotions.agents.common.config.PretrainedModelConfig attribute) contact_bodies (protomotions.robot_configs.base.RobotConfig attribute) contact_pairs_multiplier (protomotions.robot_configs.base.RobotConfig attribute) (protomotions.robot_configs.smplx.SMPLXRobotConfig attribute) contains_adapter_state() (in module protomotions.agents.peft.utils.adapter_state) context_embedding_key (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) context_encoder (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) context_key (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) CONTINUOUS_GAUSSIAN_KL (protomotions.agents.common.supervision.SupervisionLossType attribute) control (protomotions.robot_configs.base.RobotConfig attribute) copy_from() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) copy_from_motion_ids() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) count (protomotions.agents.utils.normalization.RunningMeanStd attribute) create_model() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.fine_tuning.agent.FineTuningAgent method) (protomotions.agents.fine_tuning.FineTuningAgent method) (protomotions.agents.peft.prior_setup.DiscretePriorPEFTSetupMixin method) (protomotions.agents.peft.sft_agent.DiscretePriorPEFTSFTAgent method) (protomotions.agents.ppo.agent.PPO method) (protomotions.agents.supervised.agent.SupervisedAgent method) create_optimizers() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.peft.sft_agent.DiscretePriorPEFTSFTAgent method) (protomotions.agents.ppo.agent.PPO method) (protomotions.agents.supervised.agent.SupervisedAgent method) critic (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTModelConfig attribute) (protomotions.agents.ppo.agent.PPO attribute) (protomotions.agents.ppo.config.PPOModelConfig attribute) critic_module (protomotions.agents.ppo.agent.PPO property) critic_optimizer (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTModelConfig attribute) (protomotions.agents.ppo.config.PPOModelConfig attribute) critic_step() (protomotions.agents.peft.prior_agent.DiscretePriorPEFTRLFTAgent method) (protomotions.agents.ppo.agent.PPO method) current_max_episode_length() (protomotions.agents.base_agent.config.MaxEpisodeLengthManagerConfig method)

D

d_model (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) decode() (protomotions.agents.common.autoencoder.AutoEncoder method) (protomotions.agents.common.discrete_latent.DiscreteLatentDecoder method) decode_logits() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) default_dof_pos (protomotions.robot_configs.base.RobotConfig attribute) default_peft_model_config() (in module protomotions.agents.peft.prior_config) default_root_height (protomotions.robot_configs.amp.AMPRobotConfig attribute) (protomotions.robot_configs.base.RobotConfig attribute) (protomotions.robot_configs.g1.G1RobotConfig attribute) (protomotions.robot_configs.h1_2.H1_2RobotConfig attribute) (protomotions.robot_configs.smpl.SmplRobotConfig attribute) (protomotions.robot_configs.smplx.SMPLXRobotConfig attribute) desired_kl (protomotions.agents.ppo.config.AdaptiveLRConfig attribute) device (protomotions.agents.evaluators.base_evaluator.BaseEvaluator property) (protomotions.agents.utils.replay_buffer.ReplayBuffer property) (protomotions.agents.utils.step_tracker.StepTracker property) devices (protomotions.utils.fabric_config.FabricConfig attribute) DictDataset (class in protomotions.agents.utils.data) disc_critic (protomotions.agents.amp.config.AMPModelConfig attribute) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPModelConfig attribute) disc_critic_optimizer (protomotions.agents.amp.config.AMPModelConfig attribute) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPModelConfig attribute) discount_values() (in module protomotions.agents.ppo.utils) DISCRETE_CROSS_ENTROPY (protomotions.agents.common.supervision.SupervisionLossType attribute) DISCRETE_KL (protomotions.agents.common.supervision.SupervisionLossType attribute) DiscreteAutoregressiveTransformer (class in protomotions.agents.common.autoregressive) DiscreteAutoregressiveTransformerConfig (class in protomotions.agents.common.config) DiscreteLatentDecoder (class in protomotions.agents.common.discrete_latent) DiscreteLatentQuantizer (class in protomotions.agents.common.discrete_latent) DiscreteLatentTargetEncoder (class in protomotions.agents.common.discrete_latent) DiscretePriorPEFTActor (class in protomotions.agents.peft.actor) DiscretePriorPEFTActorConfig (class in protomotions.agents.peft.prior_config) DiscretePriorPEFTBaseModelConfig (class in protomotions.agents.peft.prior_config) DiscretePriorPEFTConfig (class in protomotions.agents.peft.prior_config) DiscretePriorPEFTModel (class in protomotions.agents.peft.model)

DiscretePriorPEFTRLFTAgent (class in protomotions.agents.peft.prior_agent) DiscretePriorPEFTRLFTAgentConfig (class in protomotions.agents.peft.prior_config) DiscretePriorPEFTRLFTAMPAgent (class in protomotions.agents.peft.prior_amp_agent) DiscretePriorPEFTRLFTAMPAgentConfig (class in protomotions.agents.peft.prior_amp_config) DiscretePriorPEFTRLFTAMPModel (class in protomotions.agents.peft.prior_amp_model) DiscretePriorPEFTRLFTAMPModelConfig (class in protomotions.agents.peft.prior_amp_config) DiscretePriorPEFTRLFTModelConfig (class in protomotions.agents.peft.prior_config) DiscretePriorPEFTSetupMixin (class in protomotions.agents.peft.prior_setup) DiscretePriorPEFTSFTAgent (class in protomotions.agents.peft.sft_agent) DiscretePriorPEFTSFTAgentConfig (class in protomotions.agents.peft.prior_config) DiscretePriorPEFTSFTModel (class in protomotions.agents.peft.sft_model) DiscretePriorPEFTSFTModelConfig (class in protomotions.agents.peft.prior_config) DiscretePriorWithPEFT (class in protomotions.agents.peft.prior_with_peft) Discriminator (class in protomotions.agents.amp.model) discriminator (protomotions.agents.amp.config.AMPModelConfig attribute) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPModelConfig attribute) discriminator_batch_size (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_grad_penalty (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_logit_weight_decay (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_max_cumulative_bad_transitions (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_optimization_ratio (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_optimizer (protomotions.agents.amp.config.AMPModelConfig attribute) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPModelConfig attribute) discriminator_replay_keep_prob (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_replay_size (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_reward_threshold (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_reward_w (protomotions.agents.amp.config.AMPParametersConfig attribute) discriminator_step() (protomotions.agents.ase.agent.ASE method) discriminator_weight_decay (protomotions.agents.amp.config.AMPParametersConfig attribute) DiscriminatorConfig (class in protomotions.agents.amp.config) diversity_bonus (protomotions.agents.ase.config.ASEParametersConfig attribute) diversity_loss() (protomotions.agents.ase.agent.ASE method) diversity_tar (protomotions.agents.ase.config.ASEParametersConfig attribute) done_indices() (protomotions.agents.utils.step_tracker.StepTracker method) dropout (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute)

E

e_clip (protomotions.agents.ppo.agent.PPO attribute) (protomotions.agents.ppo.config.PPOAgentConfig attribute) ema_alpha (protomotions.agents.ppo.config.AdvantageNormalizationConfig attribute) enabled (protomotions.agents.common.supervision.SupervisionLossConfig attribute) (protomotions.agents.ppo.config.AdaptiveLRConfig attribute) (protomotions.agents.ppo.config.AdvantageNormalizationConfig attribute) (protomotions.agents.ppo.config.L2C2Config attribute) enc_weights() (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) encode_context() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) encode_tokens() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) encoder (protomotions.agents.supervised.masked_mimic_config.MaskedMimicModelConfig attribute) encoder_out_size (protomotions.agents.ase.config.ASEDiscriminatorEncoderConfig attribute) end_epoch (protomotions.agents.supervised.masked_mimic_config.KLDScheduleConfig attribute) end_kld_coeff (protomotions.agents.supervised.masked_mimic_config.KLDScheduleConfig attribute) end_length (protomotions.agents.base_agent.config.MaxEpisodeLengthManagerConfig attribute) end_timer() (protomotions.agents.utils.metering.TimeReport method) ensure_reference_modules() (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method) entropy_coef (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTAgentConfig attribute) (protomotions.agents.ppo.config.PPOAgentConfig attribute) env (protomotions.agents.evaluators.base_evaluator.BaseEvaluator property) eps (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) (protomotions.agents.base_agent.config.OptimizerConfig attribute) eval() (protomotions.agents.base_agent.agent.BaseAgent method)

eval_action_ema_alpha (protomotions.agents.evaluators.config.MimicEvaluatorConfig attribute) eval_metrics_every (protomotions.agents.evaluators.config.EvaluatorConfig attribute) evaluate_episode() (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) (protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator method) (protomotions.agents.evaluators.MimicEvaluator method) evaluation_components (protomotions.agents.evaluators.config.EvaluatorConfig attribute) evaluator (protomotions.agents.base_agent.agent.BaseAgent attribute) (protomotions.agents.base_agent.config.BaseAgentConfig attribute) (protomotions.agents.fine_tuning.config.FineTuningAgentConfig attribute) EvaluatorConfig (class in protomotions.agents.evaluators.config) expand_shape (protomotions.agents.common.config.ModuleOperationExpandConfig attribute) experience_buffer (protomotions.agents.base_agent.agent.BaseAgent attribute) experience_buffer_keys() (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) (protomotions.agents.peft.prior_amp_model.DiscretePriorPEFTRLFTAMPModel method) ExperienceBuffer (class in protomotions.agents.utils.data) EXPERT (protomotions.agents.supervised.config.RolloutActor attribute) expert_model_path (protomotions.agents.supervised.config.SupervisedAgentConfig attribute) export_observations() (in module protomotions.utils.export_utils) export_onnx() (in module protomotions.utils.export_utils) export_ppo_actor() (in module protomotions.utils.export_utils) export_ppo_critic() (in module protomotions.utils.export_utils) export_ppo_model() (in module protomotions.utils.export_utils) export_unified_pipeline() (in module protomotions.utils.export_utils) extra (protomotions.agents.common.supervision.SupervisionLossConfig attribute)

F

FabricConfig (class in protomotions.utils.fabric_config) fail_on_bad_grads (protomotions.agents.base_agent.config.BaseAgentConfig attribute) ff_size (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute) film_input_norm (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) film_input_norm_clamp (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) FineTuningAgent (class in protomotions.agents.fine_tuning) (class in protomotions.agents.fine_tuning.agent) FineTuningAgentConfig (class in protomotions.agents.fine_tuning) (class in protomotions.agents.fine_tuning.config) FiniteScalarQuantizer (class in protomotions.agents.common.fsq) fit() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.peft.prior_agent.DiscretePriorPEFTRLFTAgent method) forward() (protomotions.agents.amp.model.AMPModel method) (protomotions.agents.amp.model.Discriminator method) (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) (protomotions.agents.ase.model.ASEModel method) (protomotions.agents.base_agent.model.BaseModel method) (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) (protomotions.agents.common.autoencoder.AutoEncoder method) (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) (protomotions.agents.common.common.ModuleContainer method) (protomotions.agents.common.common.NormObsBase method) (protomotions.agents.common.common.ObsProcessor method) (protomotions.agents.common.mlp.MLPWithConcat method) (protomotions.agents.common.transformer.Transformer method) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) (protomotions.agents.peft.adapters.LoRALayer method) (protomotions.agents.peft.adapters.TransformerEncoderWithConditioning method) (protomotions.agents.peft.adapters.TransformerLayerWithDoRA method) (protomotions.agents.peft.adapters.TransformerLayerWithLoRA method) (protomotions.agents.peft.model.DiscretePriorPEFTModel method) (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method) (protomotions.agents.peft.sft_model.DiscretePriorPEFTSFTModel method) (protomotions.agents.ppo.model.PPOActor method) (protomotions.agents.ppo.model.PPOModel method) (protomotions.agents.supervised.masked_mimic_model.MaskedMimicModel method) (protomotions.utils.export_utils.ActionExportModule method) (protomotions.utils.export_utils.ObservationExportModule method) (protomotions.utils.export_utils.ONNXExportWrapper method) (protomotions.utils.export_utils.UnifiedPipelineModule method)

forward_from_tokens() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) forward_inference() (protomotions.agents.supervised.masked_mimic_model.MaskedMimicModel method) forward_rollout() (protomotions.agents.peft.model.DiscretePriorPEFTModel method) (protomotions.agents.peft.prior_amp_model.DiscretePriorPEFTRLFTAMPModel method) frame_limits (protomotions.agents.evaluators.mimic_evaluator.MimicEpisodeContext attribute) freeze (protomotions.agents.common.config.PretrainedModelConfig attribute) freeze() (protomotions.agents.common.discrete_latent.DiscreteLatentDecoder method) (protomotions.agents.common.discrete_latent.DiscreteLatentTargetEncoder method) freeze_base_and_enable_peft() (in module protomotions.agents.peft.adapters) freeze_module() (in module protomotions.agents.common.pretrained) from_str() (protomotions.agents.supervised.config.RolloutActor class method) (protomotions.agents.supervised.masked_mimic_config.VAENoiseType class method) fsq_codes_to_fsq_indices() (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) fsq_indices_to_codes() (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) fsq_indices_to_prior_tokens() (protomotions.agents.common.discrete_latent.FSQTokenization method) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) FSQAutoEncoder (class in protomotions.agents.common.fsq) FSQAutoEncoderConfig (class in protomotions.agents.common.fsq_config) FSQTokenization (class in protomotions.agents.common.discrete_latent)

G

G1RobotConfig (class in protomotions.robot_configs.g1) gamma (protomotions.agents.base_agent.config.BaseAgentConfig attribute) generate_causal_mask() (in module protomotions.agents.common.autoregressive) generate_from_context() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) generated_tokens_key (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) GenesisSimulator (built-in class) get_action_and_logp() (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) get_activation_func() (in module protomotions.agents.utils.training) get_all_input_keys() (protomotions.utils.export_utils.UnifiedPipelineModule method) get_buffer_size() (protomotions.agents.utils.replay_buffer.ReplayBuffer method) get_class() (in module protomotions.utils.hydra_replacement) get_expert_actor_in_keys() (in module protomotions.agents.supervised.expert_utils) get_expert_disc_obs() (protomotions.agents.ase.agent.ASE method) get_expert_observation_components() (in module protomotions.agents.supervised.expert_utils) get_expert_observation_keys() (in module protomotions.agents.supervised.expert_utils) get_inference_in_keys() (protomotions.agents.supervised.masked_mimic_model.MaskedMimicModel method) get_inference_state_dict() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.peft.prior_setup.DiscretePriorPEFTSetupMixin method)

get_input_keys() (protomotions.utils.export_utils.ObservationExportModule method) get_output_keys() (protomotions.utils.export_utils.ActionExportModule method) (protomotions.utils.export_utils.ObservationExportModule method) get_params() (in module protomotions.agents.common.common) get_path() (in module protomotions.agents.common.pretrained) get_state_dict() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) (protomotions.agents.peft.sft_agent.DiscretePriorPEFTSFTAgent method) (protomotions.agents.ppo.agent.PPO method) (protomotions.agents.supervised.agent.SupervisedAgent method) get_step_count_increment() (protomotions.agents.base_agent.agent.BaseAgent method) get_unfilled_mask() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) grad_norm() (in module protomotions.utils.torch_utils) gradient_clip_val (protomotions.agents.base_agent.config.BaseAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTAgentConfig attribute)

H

H1_2RobotConfig (class in protomotions.robot_configs.h1_2) half_L (protomotions.agents.common.fsq.FSQAutoEncoder property) half_width (protomotions.agents.common.fsq.FSQAutoEncoder property) handle_model_grad_clipping() (in module protomotions.agents.utils.training)

has_critic (protomotions.agents.base_agent.agent.BaseAgent property) (protomotions.agents.peft.sft_agent.DiscretePriorPEFTSFTAgent property) (protomotions.agents.ppo.agent.PPO property) has_reference_state() (in module protomotions.agents.peft.utils.model_state) hidden_key (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute)

I

import_experiment_relative_eval_overrides() (in module protomotions.utils.config_utils) import_simulator_before_torch() (in module protomotions.utils.simulator_imports) in_keys (protomotions.agents.amp.model.Discriminator attribute) (protomotions.agents.ase.config.ASEDiscriminatorEncoderConfig attribute) (protomotions.agents.base_agent.config.BaseModelConfig attribute) (protomotions.agents.base_agent.model.BaseModel attribute) (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) (protomotions.agents.common.config.MLPWithConcatConfig attribute) (protomotions.agents.common.config.ModuleContainerConfig attribute) (protomotions.agents.common.config.ObsProcessorConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute) (protomotions.agents.common.mlp.MLPWithConcat attribute) (protomotions.agents.common.transformer.Transformer attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTActorConfig attribute) (protomotions.agents.ppo.config.PPOActorConfig attribute) (protomotions.agents.ppo.model.PPOActor attribute) indices_to_codes() (protomotions.agents.common.discrete_latent.DiscreteLatentDecoder method) (protomotions.agents.common.discrete_latent.DiscreteLatentQuantizer method) (protomotions.agents.common.fsq.FiniteScalarQuantizer method) (protomotions.agents.common.fsq.FSQAutoEncoder method) inference_checkpoint_name() (protomotions.agents.base_agent.agent.BaseAgent static method)

init (protomotions.agents.base_agent.model.RolloutStateSpec attribute) init_kld_coeff (protomotions.agents.supervised.masked_mimic_config.KLDScheduleConfig attribute) init_peft() (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method) init_rollout_state() (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) init_state (protomotions.robot_configs.base.RobotConfig attribute) initialize_eval() (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) (protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator method) (protomotions.agents.evaluators.MimicEvaluator method) inject_transformer_peft() (in module protomotions.agents.peft.adapters) input_and_mask_mapping (protomotions.agents.common.config.TransformerConfig attribute) input_models (protomotions.agents.common.transformer.Transformer attribute) instantiate() (in module protomotions.utils.hydra_replacement) internal_logs() (protomotions.agents.common.autoencoder.AutoEncoder method) (protomotions.agents.common.fsq.FSQAutoEncoder method) interpolate_pos() (in module protomotions.utils.motion_interpolation_utils) interpolate_quat() (in module protomotions.utils.motion_interpolation_utils) is_adapter_only_model_state() (in module protomotions.agents.peft.utils.model_state) is_adapter_state_key() (in module protomotions.agents.peft.utils.adapter_state) IsaacGymSimulator (built-in class) IsaacLabSimulator (built-in class)

J

jitter_mean_reduce_each_motion() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method)

K

kinematic_info (protomotions.robot_configs.base.RobotConfig attribute) kl_coeff (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) kl_divergence_categorical() (in module protomotions.agents.common.autoregressive) kl_divergence_from_log_probs() (in module protomotions.agents.common.autoregressive)

kl_divergence_sampling_distribution() (in module protomotions.agents.common.autoregressive) kl_loss() (protomotions.agents.supervised.masked_mimic_model.MaskedMimicModel method) kld_schedule (protomotions.agents.supervised.masked_mimic_config.MaskedMimicVAEConfig attribute) KLDScheduleConfig (class in protomotions.agents.supervised.masked_mimic_config)

L

L (protomotions.agents.common.fsq.FSQAutoEncoder property) l2c2 (protomotions.agents.fine_tuning.config.FineTuningAgentConfig attribute) (protomotions.agents.ppo.config.PPOAgentConfig attribute) L2C2Config (class in protomotions.agents.ppo.config) label_smoothing (protomotions.agents.common.supervision.SupervisionLossConfig attribute) lambda_l2c2 (protomotions.agents.ppo.config.L2C2Config attribute) latent_dim (protomotions.agents.ase.config.ASEParametersConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute) latent_reset_steps (protomotions.agents.ase.agent.ASE attribute) latent_steps_max (protomotions.agents.ase.config.ASEParametersConfig attribute) latent_steps_min (protomotions.agents.ase.config.ASEParametersConfig attribute) latent_uniformity_weight (protomotions.agents.ase.config.ASEParametersConfig attribute) latents (protomotions.agents.ase.agent.ASE attribute) layers (protomotions.agents.common.config.MLPWithConcatConfig attribute) learnable_std (protomotions.agents.ppo.config.PPOActorConfig attribute) load() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.peft.prior_agent.DiscretePriorPEFTRLFTAgent method) load_adapter_checkpoint() (protomotions.agents.peft.prior_setup.DiscretePriorPEFTSetupMixin method) load_adapter_state_dict() (in module protomotions.agents.peft.utils.adapter_state) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method)

load_compatible_peft_model_state() (in module protomotions.agents.peft.utils.model_state) load_parameters() (protomotions.agents.base_agent.agent.BaseAgent method) load_pretrained_discrete_latent_decoder() (in module protomotions.agents.common.discrete_latent) load_pretrained_discrete_latent_target_encoder() (in module protomotions.agents.common.discrete_latent) load_pretrained_model_module() (in module protomotions.agents.common.pretrained) load_resolved_configs_from_checkpoint() (in module protomotions.utils.config_utils) load_state_dict() (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) log_prefix (protomotions.agents.common.supervision.SupervisionLossConfig attribute) loggers (protomotions.utils.fabric_config.FabricConfig attribute) logit_weights() (protomotions.agents.amp.model.Discriminator method) (protomotions.agents.ase.model.ASEDiscriminatorEncoder method) logits_key (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) logprob_key (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) logstd (protomotions.agents.ppo.model.PPOActor attribute) LoRALayer (class in protomotions.agents.peft.adapters) loss (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTAgentConfig attribute) (protomotions.agents.supervised.config.SupervisedAgentConfig attribute) (protomotions.agents.supervised.masked_mimic_config.MaskedMimicSupervisedAgentConfig attribute) loss_type (protomotions.agents.common.supervision.SupervisionLossConfig attribute) lr (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) (protomotions.agents.base_agent.config.OptimizerConfig attribute)

M

m_clamp (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) make_dict() (protomotions.agents.utils.data.ExperienceBuffer method) make_discrete_latent_decoder() (in module protomotions.agents.common.discrete_latent) make_discrete_latent_target_encoder() (in module protomotions.agents.common.discrete_latent) make_initial_value() (protomotions.agents.base_agent.model.RolloutStateSpec method) make_json_serializable() (in module protomotions.utils.config_utils) mark_reference_loaded() (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method) MaskedMimicModel (class in protomotions.agents.supervised.masked_mimic_model) MaskedMimicModelConfig (class in protomotions.agents.supervised.masked_mimic_config) MaskedMimicSupervisedAgentConfig (class in protomotions.agents.supervised.masked_mimic_config) MaskedMimicVAEConfig (class in protomotions.agents.supervised.masked_mimic_config) materialize() (protomotions.agents.base_agent.model.BaseModel method) (protomotions.agents.peft.sft_model.DiscretePriorPEFTSFTModel method) materialize_from_state_dict() (protomotions.agents.base_agent.model.BaseModel method) materialize_lazy_running_stats_from_state_dict() (in module protomotions.agents.utils.normalization) max_episode_length_manager (protomotions.agents.base_agent.config.BaseAgentConfig attribute) max_eval_steps (protomotions.agents.evaluators.base_evaluator.BaseEvaluator property) (protomotions.agents.evaluators.config.EvaluatorConfig attribute) max_lr (protomotions.agents.ppo.config.AdaptiveLRConfig attribute) max_mean_reduce() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) max_num_batches() (protomotions.agents.base_agent.agent.BaseAgent method) max_reduce_each_motion() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) max_seq_len (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) MaxEpisodeLengthManagerConfig (class in protomotions.agents.base_agent.config) maybe_clamp() (protomotions.agents.utils.normalization.RunningMeanStd method) mean (protomotions.agents.utils.normalization.RunningMeanStd attribute) mean() (protomotions.agents.utils.metering.TensorAverageMeter method) (protomotions.agents.utils.metering.TensorAverageMeterDict method) mean_and_clear() (protomotions.agents.utils.metering.TensorAverageMeter method) (protomotions.agents.utils.metering.TensorAverageMeterDict method) mean_max_reduce() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) mean_mean_reduce() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) mean_min_reduce() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) mean_reduce_each_motion() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) merge_from() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) mi_critic (protomotions.agents.ase.config.ASEModelConfig attribute) mi_critic_optimizer (protomotions.agents.ase.config.ASEModelConfig attribute) mi_critic_step() (protomotions.agents.ase.agent.ASE method) mi_enc_forward() (protomotions.agents.ase.agent.ASE method) mi_enc_grad_penalty (protomotions.agents.ase.config.ASEParametersConfig attribute) mi_enc_weight_decay (protomotions.agents.ase.config.ASEParametersConfig attribute) mi_hypersphere_reward_shift (protomotions.agents.ase.config.ASEParametersConfig attribute) mi_reward_w (protomotions.agents.ase.config.ASEParametersConfig attribute) Mimic (built-in class) mimic_small_marker_bodies (protomotions.robot_configs.base.RobotConfig attribute) MimicEpisodeContext (class in protomotions.agents.evaluators.mimic_evaluator) MimicEvaluator (class in protomotions.agents.evaluators) (class in protomotions.agents.evaluators.mimic_evaluator) MimicEvaluatorConfig (class in protomotions.agents.evaluators.config) min_lr (protomotions.agents.ppo.config.AdaptiveLRConfig attribute) min_mean_reduce() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) min_motion_weight (protomotions.agents.evaluators.config.MotionWeightsRulesConfig attribute) min_reduce_each_motion() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) min_std (protomotions.agents.ppo.config.AdvantageNormalizationConfig attribute) mlp (protomotions.agents.common.mlp.MLPWithConcat attribute) MLPLayerConfig (class in protomotions.agents.common.config) MLPWithConcat (class in protomotions.agents.common.mlp) MLPWithConcatConfig (class in protomotions.agents.common.config) model (protomotions.agents.amp.config.AMPAgentConfig attribute) (protomotions.agents.ase.agent.ASE attribute) (protomotions.agents.base_agent.agent.BaseAgent attribute) (protomotions.agents.base_agent.config.BaseAgentConfig attribute) (protomotions.agents.fine_tuning.config.FineTuningAgentConfig attribute) (protomotions.agents.fine_tuning.FineTuningAgentConfig attribute) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTAgentConfig attribute) (protomotions.agents.ppo.config.PPOAgentConfig attribute) (protomotions.agents.supervised.agent.SupervisedAgent attribute) (protomotions.agents.supervised.config.SupervisedAgentConfig attribute) (protomotions.agents.supervised.masked_mimic_config.MaskedMimicSupervisedAgentConfig attribute) models (protomotions.agents.amp.model.Discriminator attribute) (protomotions.agents.common.config.ModuleContainerConfig attribute) module protomotions protomotions.agents protomotions.agents.amp protomotions.agents.amp.agent protomotions.agents.amp.config protomotions.agents.amp.model protomotions.agents.ase protomotions.agents.ase.agent protomotions.agents.ase.config protomotions.agents.ase.model protomotions.agents.base_agent protomotions.agents.base_agent.agent protomotions.agents.base_agent.config protomotions.agents.base_agent.model protomotions.agents.callbacks protomotions.agents.callbacks.slurm_autoresume_srun protomotions.agents.common protomotions.agents.common.autoencoder protomotions.agents.common.autoregressive protomotions.agents.common.common protomotions.agents.common.config protomotions.agents.common.discrete_latent protomotions.agents.common.fsq protomotions.agents.common.fsq_config protomotions.agents.common.latent protomotions.agents.common.mlp protomotions.agents.common.pretrained protomotions.agents.common.supervision protomotions.agents.common.transformer protomotions.agents.evaluators protomotions.agents.evaluators.base_evaluator protomotions.agents.evaluators.config protomotions.agents.evaluators.metrics protomotions.agents.evaluators.mimic_evaluator protomotions.agents.evaluators.smoothness_calculator protomotions.agents.fine_tuning protomotions.agents.fine_tuning.agent protomotions.agents.fine_tuning.config protomotions.agents.fine_tuning.pretrained_modules protomotions.agents.mimic protomotions.agents.peft protomotions.agents.peft.actor protomotions.agents.peft.adapters protomotions.agents.peft.config protomotions.agents.peft.model protomotions.agents.peft.prior_agent protomotions.agents.peft.prior_amp_agent protomotions.agents.peft.prior_amp_config protomotions.agents.peft.prior_amp_model protomotions.agents.peft.prior_config protomotions.agents.peft.prior_setup protomotions.agents.peft.prior_with_peft protomotions.agents.peft.sft_agent protomotions.agents.peft.sft_model protomotions.agents.peft.utils protomotions.agents.peft.utils.adapter_state protomotions.agents.peft.utils.frozen_prior_checkpoint protomotions.agents.peft.utils.frozen_prior_contract protomotions.agents.peft.utils.model_state protomotions.agents.ppo protomotions.agents.ppo.agent protomotions.agents.ppo.config protomotions.agents.ppo.model protomotions.agents.ppo.utils protomotions.agents.supervised protomotions.agents.supervised.agent protomotions.agents.supervised.config protomotions.agents.supervised.expert_utils protomotions.agents.supervised.masked_mimic_config protomotions.agents.supervised.masked_mimic_model protomotions.agents.utils protomotions.agents.utils.data protomotions.agents.utils.metering protomotions.agents.utils.normalization protomotions.agents.utils.replay_buffer protomotions.agents.utils.step_tracker protomotions.agents.utils.training protomotions.tests protomotions.utils protomotions.utils.component_builder protomotions.utils.config_builder protomotions.utils.config_utils protomotions.utils.export_utils protomotions.utils.fabric_config protomotions.utils.hydra_replacement protomotions.utils.inference_utils protomotions.utils.mesh_utils protomotions.utils.motion_interpolation_utils protomotions.utils.rotations protomotions.utils.simulator_imports protomotions.utils.torch_utils

module_config (protomotions.agents.common.config.PretrainedModelConfig attribute) module_config_path (protomotions.agents.common.config.PretrainedModelConfig attribute) module_operations (protomotions.agents.common.config.MLPWithConcatConfig attribute) (protomotions.agents.common.config.ObsProcessorConfig attribute) module_path (protomotions.agents.common.config.PretrainedModelConfig attribute) ModuleContainer (class in protomotions.agents.common.common) ModuleContainerConfig (class in protomotions.agents.common.config) ModuleOperationConfig (class in protomotions.agents.common.config) ModuleOperationExpandConfig (class in protomotions.agents.common.config) ModuleOperationForwardConfig (class in protomotions.agents.common.config) ModuleOperationPermuteConfig (class in protomotions.agents.common.config) ModuleOperationReshapeConfig (class in protomotions.agents.common.config) ModuleOperationSphereProjectionConfig (class in protomotions.agents.common.config) ModuleOperationSqueezeConfig (class in protomotions.agents.common.config) ModuleOperationUnsqueezeConfig (class in protomotions.agents.common.config) momentum (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) motion_ids (protomotions.agents.evaluators.mimic_evaluator.MimicEpisodeContext attribute) motion_lib (protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator property) (protomotions.agents.evaluators.MimicEvaluator property) motion_manager (protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator property) (protomotions.agents.evaluators.MimicEvaluator property) motion_weights_rules (protomotions.agents.evaluators.config.MimicEvaluatorConfig attribute) motion_weights_update_failure_discount (protomotions.agents.evaluators.config.MotionWeightsRulesConfig attribute) motion_weights_update_success_discount (protomotions.agents.evaluators.config.MotionWeightsRulesConfig attribute) MotionMetrics (class in protomotions.agents.evaluators) (class in protomotions.agents.evaluators.metrics) MotionWeightsRulesConfig (class in protomotions.agents.evaluators.config) MSE (protomotions.agents.common.supervision.SupervisionLossType attribute) mu (protomotions.agents.ppo.model.PPOActor attribute) mu_key (protomotions.agents.ppo.config.PPOActorConfig attribute) mu_model (protomotions.agents.ppo.config.PPOActorConfig attribute) muon_adam_fallback_modules() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) MuonWithAuxAdamConfig (class in protomotions.agents.base_agent.config)

N

new_order (protomotions.agents.common.config.ModuleOperationPermuteConfig attribute) new_shape (protomotions.agents.common.config.ModuleOperationReshapeConfig attribute) NewtonSimulator (built-in class) next_logits_from_context() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) non_termination_contact_bodies (protomotions.robot_configs.base.RobotConfig attribute) norm (protomotions.agents.common.mlp.MLPWithConcat attribute) norm_clamp_value (protomotions.agents.common.config.NormObsBaseConfig attribute) norm_ema_decay (protomotions.agents.common.config.NormObsBaseConfig attribute) NORMAL (protomotions.agents.supervised.masked_mimic_config.VAENoiseType attribute) normalize() (protomotions.agents.utils.normalization.RewardRunningMeanStd method) (protomotions.agents.utils.normalization.RunningMeanStd method) normalize_obs (protomotions.agents.common.config.NormObsBaseConfig attribute) normalize_rewards (protomotions.agents.base_agent.config.BaseAgentConfig attribute) normalized_reward_clamp_value (protomotions.agents.base_agent.config.BaseAgentConfig attribute) NormObsBase (class in protomotions.agents.common.common) NormObsBaseConfig (class in protomotions.agents.common.config) nucleus_sampling() (in module protomotions.agents.common.autoregressive) nucleus_sampling_prior_constraint() (in module protomotions.agents.common.autoregressive) num_batches() (protomotions.agents.utils.data.DictDataset method) num_envs (protomotions.agents.evaluators.base_evaluator.BaseEvaluator property) num_fsq_levels (protomotions.agents.common.discrete_latent.DiscreteLatentDecoder property) (protomotions.agents.common.discrete_latent.DiscreteLatentQuantizer attribute) (protomotions.agents.common.fsq.FSQAutoEncoder property) (protomotions.agents.common.fsq_config.FSQAutoEncoderConfig attribute)

num_fsq_scalars (protomotions.agents.common.discrete_latent.DiscreteLatentDecoder property) (protomotions.agents.common.discrete_latent.DiscreteLatentQuantizer attribute) (protomotions.agents.common.fsq.FSQAutoEncoder property) (protomotions.agents.common.fsq_config.FSQAutoEncoderConfig attribute) num_heads (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute) num_layers (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute) num_mini_epochs (protomotions.agents.base_agent.config.BaseAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTAgentConfig attribute) num_nodes (protomotions.utils.fabric_config.FabricConfig attribute) num_ons (protomotions.agents.utils.metering.Timer attribute) num_out (protomotions.agents.common.common.NormObsBase attribute) (protomotions.agents.common.config.MLPWithConcatConfig attribute) (protomotions.agents.ppo.config.PPOActorConfig attribute) num_steps (protomotions.agents.base_agent.config.BaseAgentConfig attribute) num_tokens (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) number_of_actions (protomotions.robot_configs.base.RobotConfig attribute)

O

obs_dict_to_tensordict() (protomotions.agents.base_agent.agent.BaseAgent method) obs_pairs (protomotions.agents.ppo.config.L2C2Config attribute) ObservationExportModule (class in protomotions.utils.export_utils) ObsProcessor (class in protomotions.agents.common.common) ObsProcessorConfig (class in protomotions.agents.common.config) off() (protomotions.agents.utils.metering.Timer method) on() (protomotions.agents.utils.metering.Timer method) on_fit_end() (protomotions.agents.callbacks.slurm_autoresume_srun.AutoResumeCallbackSrun method) on_fit_start() (protomotions.agents.callbacks.slurm_autoresume_srun.AutoResumeCallbackSrun method) one_hot_prior_tokens() (protomotions.agents.common.discrete_latent.FSQTokenization method) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) ONNXExportWrapper (class in protomotions.utils.export_utils) ops_mean_reduce() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) optimization_module() (protomotions.agents.base_agent.model.BaseModel method) optimize_model() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.ppo.agent.PPO method) optimizer (protomotions.agents.base_agent.agent.BaseAgent attribute) (protomotions.agents.supervised.masked_mimic_config.MaskedMimicModelConfig attribute) OptimizerConfig (class in protomotions.agents.base_agent.config) optional_full_checkpoint_state_prefixes() (in module protomotions.agents.peft.utils.model_state) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) (protomotions.agents.peft.model.DiscretePriorPEFTModel method) (protomotions.agents.peft.prior_amp_model.DiscretePriorPEFTRLFTAMPModel method) (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method)

out_keys (protomotions.agents.amp.config.DiscriminatorConfig attribute) (protomotions.agents.amp.model.Discriminator attribute) (protomotions.agents.ase.config.ASEDiscriminatorEncoderConfig attribute) (protomotions.agents.base_agent.config.BaseModelConfig attribute) (protomotions.agents.base_agent.model.BaseModel attribute) (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) (protomotions.agents.common.config.MLPWithConcatConfig attribute) (protomotions.agents.common.config.ModuleContainerConfig attribute) (protomotions.agents.common.config.ObsProcessorConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute) (protomotions.agents.common.mlp.MLPWithConcat attribute) (protomotions.agents.common.transformer.Transformer attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTActorConfig attribute) (protomotions.agents.ppo.config.PPOActorConfig attribute) (protomotions.agents.ppo.config.PPOModelConfig attribute) (protomotions.agents.ppo.model.PPOActor attribute) output_activation (protomotions.agents.common.config.MLPWithConcatConfig attribute) (protomotions.agents.common.config.TransformerConfig attribute) output_head (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute)

P

parse_cli_overrides() (in module protomotions.utils.config_utils) PathFollowing (built-in class) peft (protomotions.agents.peft.prior_config.DiscretePriorPEFTActorConfig attribute) peft_type (protomotions.agents.peft.config.TransformerPEFTConfig attribute) perform_optimization_step() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.peft.prior_agent.DiscretePriorPEFTRLFTAgent method) (protomotions.agents.ppo.agent.PPO method) (protomotions.agents.supervised.agent.SupervisedAgent method) perturb_tokens() (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) pop_timer() (protomotions.agents.utils.metering.TimeReport method) post_env_step_modifications() (protomotions.agents.base_agent.agent.BaseAgent method) post_epoch_logging() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.base_agent.agent.BaseAgent method) PPO (class in protomotions.agents.ppo.agent) PPOActor (class in protomotions.agents.ppo.model) PPOActorConfig (class in protomotions.agents.ppo.config) PPOAgentConfig (class in protomotions.agents.ppo.config) PPOModel (class in protomotions.agents.ppo.model) PPOModelConfig (class in protomotions.agents.ppo.config) pre_collect_step() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.base_agent.agent.BaseAgent method) precision (protomotions.utils.fabric_config.FabricConfig attribute) predict_latent() (protomotions.agents.common.autoencoder.AutoEncoder method) predict_target_prior_tokens() (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) prediction_key (protomotions.agents.common.supervision.SupervisionLossConfig attribute) prediction_logvar_key (protomotions.agents.common.supervision.SupervisionLossConfig attribute) pretrained (protomotions.agents.fine_tuning.pretrained_modules.PretrainedModulesMixin attribute) (protomotions.agents.fine_tuning.PretrainedModulesMixin attribute) (protomotions.agents.peft.prior_setup.DiscretePriorPEFTSetupMixin attribute) pretrained_modules (protomotions.agents.fine_tuning.config.FineTuningAgentConfig attribute) (protomotions.agents.fine_tuning.FineTuningAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTAgentConfig attribute) PretrainedModelConfig (class in protomotions.agents.common.config) PretrainedModulesMixin (class in protomotions.agents.fine_tuning) (class in protomotions.agents.fine_tuning.pretrained_modules) prior (protomotions.agents.supervised.masked_mimic_config.MaskedMimicModelConfig attribute) prior_constrained_sampling_log_probs() (in module protomotions.agents.common.autoregressive) prior_tokens_to_fsq_indices() (protomotions.agents.common.discrete_latent.FSQTokenization method) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) prior_top_p (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) process_eval_results() (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) (protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator method) (protomotions.agents.evaluators.MimicEvaluator method) produce_negative_expert_obs() (protomotions.agents.ase.agent.ASE method) protomotions module protomotions.agents module protomotions.agents.amp module protomotions.agents.amp.agent module protomotions.agents.amp.config module protomotions.agents.amp.model module protomotions.agents.ase module protomotions.agents.ase.agent module protomotions.agents.ase.config module protomotions.agents.ase.model module protomotions.agents.base_agent module protomotions.agents.base_agent.agent module protomotions.agents.base_agent.config module protomotions.agents.base_agent.model module protomotions.agents.callbacks module protomotions.agents.callbacks.slurm_autoresume_srun module protomotions.agents.common module protomotions.agents.common.autoencoder module protomotions.agents.common.autoregressive module protomotions.agents.common.common module protomotions.agents.common.config module protomotions.agents.common.discrete_latent module protomotions.agents.common.fsq module protomotions.agents.common.fsq_config module protomotions.agents.common.latent module protomotions.agents.common.mlp module protomotions.agents.common.pretrained module protomotions.agents.common.supervision module protomotions.agents.common.transformer module protomotions.agents.evaluators module protomotions.agents.evaluators.base_evaluator module protomotions.agents.evaluators.config module protomotions.agents.evaluators.metrics module protomotions.agents.evaluators.mimic_evaluator module

protomotions.agents.evaluators.smoothness_calculator module protomotions.agents.fine_tuning module protomotions.agents.fine_tuning.agent module protomotions.agents.fine_tuning.config module protomotions.agents.fine_tuning.pretrained_modules module protomotions.agents.mimic module protomotions.agents.peft module protomotions.agents.peft.actor module protomotions.agents.peft.adapters module protomotions.agents.peft.config module protomotions.agents.peft.model module protomotions.agents.peft.prior_agent module protomotions.agents.peft.prior_amp_agent module protomotions.agents.peft.prior_amp_config module protomotions.agents.peft.prior_amp_model module protomotions.agents.peft.prior_config module protomotions.agents.peft.prior_setup module protomotions.agents.peft.prior_with_peft module protomotions.agents.peft.sft_agent module protomotions.agents.peft.sft_model module protomotions.agents.peft.utils module protomotions.agents.peft.utils.adapter_state module protomotions.agents.peft.utils.frozen_prior_checkpoint module protomotions.agents.peft.utils.frozen_prior_contract module protomotions.agents.peft.utils.model_state module protomotions.agents.ppo module protomotions.agents.ppo.agent module protomotions.agents.ppo.config module protomotions.agents.ppo.model module protomotions.agents.ppo.utils module protomotions.agents.supervised module protomotions.agents.supervised.agent module protomotions.agents.supervised.config module protomotions.agents.supervised.expert_utils module protomotions.agents.supervised.masked_mimic_config module protomotions.agents.supervised.masked_mimic_model module protomotions.agents.utils module protomotions.agents.utils.data module protomotions.agents.utils.metering module protomotions.agents.utils.normalization module protomotions.agents.utils.replay_buffer module protomotions.agents.utils.step_tracker module protomotions.agents.utils.training module protomotions.tests module protomotions.utils module protomotions.utils.component_builder module protomotions.utils.config_builder module protomotions.utils.config_utils module protomotions.utils.export_utils module protomotions.utils.fabric_config module protomotions.utils.hydra_replacement module protomotions.utils.inference_utils module protomotions.utils.mesh_utils module protomotions.utils.motion_interpolation_utils module protomotions.utils.rotations module protomotions.utils.simulator_imports module protomotions.utils.torch_utils module ProtoMotionsTensorDictModule (class in protomotions.agents.base_agent.model)

Q

quantize() (protomotions.agents.common.discrete_latent.DiscreteLatentQuantizer method) (protomotions.agents.common.fsq.FiniteScalarQuantizer method) (protomotions.agents.common.fsq.FSQAutoEncoder method) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method)

R

rank (protomotions.agents.peft.config.TransformerPEFTConfig attribute) read_rollout_state() (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) record_reward() (protomotions.agents.utils.normalization.RewardRunningMeanStd method) record_rollout_step() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.ppo.agent.PPO method) reference_obs_components (protomotions.agents.amp.config.AMPAgentConfig attribute) (protomotions.agents.peft.prior_amp_config.DiscretePriorPEFTRLFTAMPAgentConfig attribute) reference_ready (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT property) reference_state_prefixes() (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT static method) register_algorithm_experience_buffer_keys() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.ppo.agent.PPO method) (protomotions.agents.supervised.agent.SupervisedAgent method) register_algorithm_experience_buffer_keys_from_obs() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.supervised.agent.SupervisedAgent method) register_key() (protomotions.agents.utils.data.ExperienceBuffer method) reload_frozen_base_prior_from_checkpoint() (in module protomotions.agents.peft.utils.frozen_prior_checkpoint) ReplayBuffer (class in protomotions.agents.utils.replay_buffer) report() (protomotions.agents.utils.metering.Timer method) (protomotions.agents.utils.metering.TimeReport method) require_frozen_prior_attr() (in module protomotions.agents.peft.utils.frozen_prior_contract) require_reference() (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method) require_reward_norm_on_load (protomotions.agents.base_agent.agent.BaseAgent attribute) (protomotions.agents.peft.prior_setup.DiscretePriorPEFTSetupMixin attribute) reset() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) (protomotions.agents.utils.replay_buffer.ReplayBuffer method) reset_latents() (protomotions.agents.ase.agent.ASE method)

reset_noise (protomotions.robot_configs.base.RobotConfig attribute) reset_rollout_context() (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) reset_rollout_state() (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) reset_steps() (protomotions.agents.utils.step_tracker.StepTracker method) resolve_discrete_autoregressive_config() (in module protomotions.agents.common.autoregressive) resolve_frozen_prior_input_keys() (in module protomotions.agents.peft.utils.frozen_prior_contract) resolve_model() (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig method) reward_norm_ema_decay (protomotions.agents.base_agent.config.BaseAgentConfig attribute) RewardRunningMeanStd (class in protomotions.agents.utils.normalization) RobotConfig (class in protomotions.robot_configs.base) rollout_actor (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTAgentConfig attribute) (protomotions.agents.supervised.config.SupervisedAgentConfig attribute) rollout_context_keys() (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) rollout_state_specs() (protomotions.agents.base_agent.model.ProtoMotionsTensorDictModule method) (protomotions.agents.supervised.masked_mimic_model.MaskedMimicModel method) RolloutActor (class in protomotions.agents.supervised.config) RolloutStateSpec (class in protomotions.agents.base_agent.model) root_dir (protomotions.agents.evaluators.base_evaluator.BaseEvaluator property) rotation_jitter_mean_reduce_each_motion() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) round_ste() (protomotions.agents.common.fsq.FiniteScalarQuantizer static method) (protomotions.agents.common.fsq.FSQAutoEncoder static method) run_evaluation() (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) (protomotions.agents.evaluators.mimic_evaluator.MimicEvaluator method) (protomotions.agents.evaluators.MimicEvaluator method) run_transformer() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) running_obs_norm (protomotions.agents.common.common.NormObsBase attribute) RunningMeanStd (class in protomotions.agents.utils.normalization)

S

sample() (protomotions.agents.utils.replay_buffer.ReplayBuffer method) sample_latents() (protomotions.agents.ase.agent.ASE method) sampling_log_probs() (in module protomotions.agents.common.autoregressive) sampling_mode (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) save() (protomotions.agents.base_agent.agent.BaseAgent method) save_epoch_checkpoint_every (protomotions.agents.base_agent.config.BaseAgentConfig attribute) save_inference_checkpoint (protomotions.agents.base_agent.config.BaseAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTAgentConfig attribute) (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTAgentConfig attribute) save_inference_checkpoint() (protomotions.agents.base_agent.agent.BaseAgent method) save_last_checkpoint_every (protomotions.agents.base_agent.config.BaseAgentConfig attribute) save_predicted_motion_lib_every (protomotions.agents.evaluators.config.MimicEvaluatorConfig attribute) seeding() (in module protomotions.utils.torch_utils) seqTransEncoder (protomotions.agents.common.transformer.Transformer attribute) sequence_pos_encoder (protomotions.agents.common.transformer.Transformer attribute) set_peft_layers_train_mode() (in module protomotions.agents.peft.adapters) setup() (protomotions.agents.ase.agent.ASE method) (protomotions.agents.base_agent.agent.BaseAgent method) shape (protomotions.agents.base_agent.model.RolloutStateSpec attribute) shift_counter() (protomotions.agents.utils.step_tracker.StepTracker method) shift_mean (protomotions.agents.ppo.config.AdvantageNormalizationConfig attribute) should_stop (protomotions.agents.base_agent.agent.BaseAgent property) shuffle() (protomotions.agents.utils.data.DictDataset method) simple_test_policy() (protomotions.agents.evaluators.base_evaluator.BaseEvaluator method) simulation_params (protomotions.robot_configs.amp.AMPRobotConfig attribute) (protomotions.robot_configs.base.RobotConfig attribute) (protomotions.robot_configs.g1.G1RobotConfig attribute) (protomotions.robot_configs.h1_2.H1_2RobotConfig attribute) (protomotions.robot_configs.smpl.SmplRobotConfig attribute) (protomotions.robot_configs.smplx.SMPLXRobotConfig attribute)

Simulator (built-in class) SmoothnessAggregateMetric (class in protomotions.agents.evaluators) SmoothnessCalculator (class in protomotions.agents.evaluators) (class in protomotions.agents.evaluators.smoothness_calculator) SmplRobotConfig (class in protomotions.robot_configs.smpl) SMPLXRobotConfig (class in protomotions.robot_configs.smplx) squeeze_dim (protomotions.agents.common.config.ModuleOperationSqueezeConfig attribute) start_epoch (protomotions.agents.supervised.masked_mimic_config.KLDScheduleConfig attribute) start_length (protomotions.agents.base_agent.config.MaxEpisodeLengthManagerConfig attribute) start_timer() (protomotions.agents.utils.metering.TimeReport method) state_dict_key (protomotions.agents.common.config.PretrainedModelConfig attribute) Steering (built-in class) steps (protomotions.agents.utils.step_tracker.StepTracker attribute) StepTracker (class in protomotions.agents.utils.step_tracker) store() (protomotions.agents.utils.replay_buffer.ReplayBuffer method) store_dict (protomotions.agents.utils.data.ExperienceBuffer attribute) store_latents() (protomotions.agents.ase.agent.ASE method) strategy (protomotions.utils.fabric_config.FabricConfig attribute) strict (protomotions.agents.common.config.PretrainedModelConfig attribute) strip_actor_prefix() (in module protomotions.agents.peft.utils.adapter_state) STUDENT (protomotions.agents.supervised.config.RolloutActor attribute) supervised_step() (protomotions.agents.supervised.agent.SupervisedAgent method) SupervisedAgent (class in protomotions.agents.supervised.agent) SupervisedAgentConfig (class in protomotions.agents.supervised.config) SupervisionLossConfig (class in protomotions.agents.common.supervision) SupervisionLossType (class in protomotions.agents.common.supervision) supports_log_internals (protomotions.agents.common.autoencoder.AutoEncoder attribute) (protomotions.agents.common.fsq.FSQAutoEncoder attribute) swap_and_flatten01() (in module protomotions.agents.utils.data)

T

tan_norm_to_quat() (in module protomotions.utils.rotations) target_key (protomotions.agents.common.supervision.SupervisionLossConfig attribute) target_kl (protomotions.agents.peft.prior_config.DiscretePriorPEFTRLFTAgentConfig attribute) target_logvar_key (protomotions.agents.common.supervision.SupervisionLossConfig attribute) task_c_dim (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT property) task_reward_w (protomotions.agents.base_agent.config.BaseAgentConfig attribute) tau (protomotions.agents.ppo.agent.PPO attribute) (protomotions.agents.ppo.config.PPOAgentConfig attribute) teacher_force() (protomotions.agents.common.autoregressive.DiscreteAutoregressiveTransformer method) temperature (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) TensorAverageMeter (class in protomotions.agents.utils.metering) TensorAverageMeterDict (class in protomotions.agents.utils.metering) terminate_early() (protomotions.agents.base_agent.agent.BaseAgent method) test_implementations_comparison() (protomotions.utils.rotations.TestQuatAngleAxis method) test_orthogonal_vectors() (protomotions.utils.rotations.TestQuatFromTwoVectors method) test_same_vectors() (protomotions.utils.rotations.TestQuatFromTwoVectors method) test_w_first_format() (protomotions.utils.rotations.TestQuatFromTwoVectors method) TestQuatAngleAxis (class in protomotions.utils.rotations) TestQuatFromTwoVectors (class in protomotions.utils.rotations) time_total (protomotions.agents.utils.metering.Timer attribute) Timer (class in protomotions.agents.utils.metering) TimeReport (class in protomotions.agents.utils.metering) to() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method) (protomotions.agents.utils.normalization.RunningMeanStd method)

to_torch() (in module protomotions.utils.torch_utils) token_embedding_key (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) token_encoder (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) token_key (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute) token_perturb_mode (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTModelConfig attribute) token_perturb_rate (protomotions.agents.peft.prior_config.DiscretePriorPEFTSFTModelConfig attribute) top_p (protomotions.agents.peft.prior_config.DiscretePriorPEFTConfig attribute) total_sum() (protomotions.agents.utils.data.ExperienceBuffer method) trackable_bodies_subset (protomotions.robot_configs.base.RobotConfig attribute) train() (protomotions.agents.base_agent.agent.BaseAgent method) (protomotions.agents.common.discrete_latent.DiscreteLatentDecoder method) (protomotions.agents.common.discrete_latent.DiscreteLatentTargetEncoder method) (protomotions.agents.peft.actor.DiscretePriorPEFTActor method) (protomotions.agents.peft.prior_with_peft.DiscretePriorWithPEFT method) training_early_termination (protomotions.agents.base_agent.config.BaseAgentConfig attribute) training_max_steps (protomotions.agents.base_agent.config.BaseAgentConfig attribute) (protomotions.agents.fine_tuning.config.FineTuningAgentConfig attribute) Transformer (class in protomotions.agents.common.transformer) transformer_token_size (protomotions.agents.common.config.TransformerConfig attribute) TransformerConfig (class in protomotions.agents.common.config) TransformerEncoderWithConditioning (class in protomotions.agents.peft.adapters) TransformerLayerWithDoRA (class in protomotions.agents.peft.adapters) TransformerLayerWithLoRA (class in protomotions.agents.peft.adapters) TransformerPEFTConfig (class in protomotions.agents.peft.config) transition_epochs (protomotions.agents.base_agent.config.MaxEpisodeLengthManagerConfig attribute) trunk (protomotions.agents.supervised.masked_mimic_config.MaskedMimicModelConfig attribute)

U

UnifiedPipelineModule (class in protomotions.utils.export_utils) UNIFORM (protomotions.agents.supervised.masked_mimic_config.VAENoiseType attribute) uniformity_kernel_scale (protomotions.agents.ase.config.ASEParametersConfig attribute) units (protomotions.agents.common.config.MLPLayerConfig attribute) unsqueeze_dim (protomotions.agents.common.config.ModuleOperationUnsqueezeConfig attribute) update() (protomotions.agents.evaluators.metrics.MotionMetrics method) (protomotions.agents.evaluators.MotionMetrics method)

update_data() (protomotions.agents.utils.data.ExperienceBuffer method) update_fields() (protomotions.robot_configs.base.RobotConfig method) update_latents() (protomotions.agents.ase.agent.ASE method) use_adam_for_sequential_projections (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) use_disc_critic (protomotions.agents.amp.config.AMPParametersConfig attribute) use_ema (protomotions.agents.ppo.config.AdvantageNormalizationConfig attribute) use_layer_norm (protomotions.agents.common.config.MLPLayerConfig attribute)

V

vae (protomotions.agents.supervised.masked_mimic_config.MaskedMimicModelConfig attribute) vae_latent_dim (protomotions.agents.supervised.masked_mimic_config.MaskedMimicVAEConfig attribute) vae_noise_type (protomotions.agents.supervised.masked_mimic_config.MaskedMimicVAEConfig attribute)

VAENoiseType (class in protomotions.agents.supervised.masked_mimic_config) var (protomotions.agents.utils.normalization.RunningMeanStd attribute) vocab_size (protomotions.agents.common.config.DiscreteAutoregressiveTransformerConfig attribute)

W

wandb_run_exists() (in module protomotions.agents.callbacks.slurm_autoresume_srun) weight (protomotions.agents.common.supervision.SupervisionLossConfig attribute) weight_decay (protomotions.agents.base_agent.config.MuonWithAuxAdamConfig attribute) (protomotions.agents.base_agent.config.OptimizerConfig attribute)

weight_init() (in module protomotions.agents.common.common) weight_init_trainable() (in module protomotions.agents.common.common)

Z

ZEROS (protomotions.agents.supervised.masked_mimic_config.VAENoiseType attribute)