tbp.monty.experiment#

tbp.monty.experiment.environment#

tbp.monty.experiment.learning_module#

class ExperimentLearningModule(*args, **kwargs)[source]#

Bases: Protocol

Experiment interface to a Learning Module.

__init__(*args, **kwargs)#

fixme_reset_ground_truth(primary_target=None) → None[source]#

Reset internal state based on ground truth.

Parameters:: primary_target – The primary target for the learning module to recognize.
Return type:: None

fixme_update_ground_truth() → None[source]#

Update internal state based on ground truth.

Return type:: None

reset_stm() → None[source]#

Reset short-term memory buffer.

Do things like reset buffers or possible_matches before training.

Return type:: None

set_experiment_mode(mode: ExperimentMode) → None[source]#

Set the experiment mode.

Update state variables based on which method (train or evaluate) is being called at the experiment level.

Parameters:: mode (ExperimentMode) – The experiment mode.
Return type:: None

update_ltm_from_stm() → None[source]#

Update long-term memory from short-term memory buffer.

Return type:: None

tbp.monty.experiment.monty#

class ExperimentMonty(*args, **kwargs)[source]#

Bases: Protocol

Experiment interface to Monty model.

__init__(*args, **kwargs)#

fixme_set_ground_truth(primary_target: dict[str, Any] | None = None, semantic_id_to_label: dict[SemanticID, str] | None = None) → None[source]#

Provide ground truth from experiment supervision.

Parameters:

primary_target – Optional primary target to recognize.
semantic_id_to_label – Optional mapping from IDs to labels.

is_done() → bool[source]#

Return True if the model has reached a terminal condition.

Return type:: bool

reset() → None[source]#

Reset the internal state of this Monty model.

Return type:: None

set_experiment_mode(mode: ExperimentMode) → None[source]#

Set the experiment mode.

Update state variables based on which method (train or evaluate) is being called at the experiment level.

Parameters:: mode (ExperimentMode) – The experiment mode.
Return type:: None

update_ltm() → None[source]#

Transfer short-term buffer to long-term memory.

Return type:: None

tbp.monty.experiment.motor_system#

class ExperimentMotorPolicy(*args, **kwargs)[source]#

Bases: Protocol

Experiment interface to a Motor Policy.

__init__(*args, **kwargs)#

fixme_provide_motor_system(motor_system: ExperimentMotorSystem) → None[source]#

Provide access to the Motor System during initialization.

This is part of the work to remove reset() in favor or Hydra instantiation. It is used to provide a reference to the Motor System so the SurfacePolicy and its subclasses can override the motor_only_step property.

TODO: This whole mechanism is a hack for the benefit of SurfacePolicy et. al. What we should be doing is supporting more complex actions, like “follow surface in this direction,” whose details are left to the simulator.