tbp.monty.frameworks#
- tbp.monty.frameworks.actions
- tbp.monty.frameworks.actions.action_samplers
ActionSampler
ActionSampler.sample()
ActionSampler.sample_look_down()
ActionSampler.sample_look_up()
ActionSampler.sample_move_forward()
ActionSampler.sample_move_tangentially()
ActionSampler.sample_orient_horizontal()
ActionSampler.sample_orient_vertical()
ActionSampler.sample_set_agent_pitch()
ActionSampler.sample_set_agent_pose()
ActionSampler.sample_set_sensor_pitch()
ActionSampler.sample_set_sensor_pose()
ActionSampler.sample_set_sensor_rotation()
ActionSampler.sample_set_yaw()
ActionSampler.sample_turn_left()
ActionSampler.sample_turn_right()
ConstantSampler
ConstantSampler.sample_look_down()
ConstantSampler.sample_look_up()
ConstantSampler.sample_move_forward()
ConstantSampler.sample_move_tangentially()
ConstantSampler.sample_orient_horizontal()
ConstantSampler.sample_orient_vertical()
ConstantSampler.sample_set_agent_pitch()
ConstantSampler.sample_set_agent_pose()
ConstantSampler.sample_set_sensor_pitch()
ConstantSampler.sample_set_sensor_pose()
ConstantSampler.sample_set_sensor_rotation()
ConstantSampler.sample_set_yaw()
ConstantSampler.sample_turn_left()
ConstantSampler.sample_turn_right()
UniformlyDistributedSampler
UniformlyDistributedSampler.sample_look_down()
UniformlyDistributedSampler.sample_look_up()
UniformlyDistributedSampler.sample_move_forward()
UniformlyDistributedSampler.sample_move_tangentially()
UniformlyDistributedSampler.sample_orient_horizontal()
UniformlyDistributedSampler.sample_orient_vertical()
UniformlyDistributedSampler.sample_set_agent_pitch()
UniformlyDistributedSampler.sample_set_agent_pose()
UniformlyDistributedSampler.sample_set_sensor_pitch()
UniformlyDistributedSampler.sample_set_sensor_pose()
UniformlyDistributedSampler.sample_set_sensor_rotation()
UniformlyDistributedSampler.sample_set_yaw()
UniformlyDistributedSampler.sample_turn_left()
UniformlyDistributedSampler.sample_turn_right()
- tbp.monty.frameworks.actions.actions
- tbp.monty.frameworks.actions.actuator
Actuator
Actuator.actuate_look_down()
Actuator.actuate_look_up()
Actuator.actuate_move_forward()
Actuator.actuate_move_tangentially()
Actuator.actuate_orient_horizontal()
Actuator.actuate_orient_vertical()
Actuator.actuate_set_agent_pitch()
Actuator.actuate_set_agent_pose()
Actuator.actuate_set_sensor_pitch()
Actuator.actuate_set_sensor_pose()
Actuator.actuate_set_sensor_rotation()
Actuator.actuate_set_yaw()
Actuator.actuate_turn_left()
Actuator.actuate_turn_right()
- tbp.monty.frameworks.actions.action_samplers
- tbp.monty.frameworks.config_utils
- tbp.monty.frameworks.config_utils.cmd_parser
- tbp.monty.frameworks.config_utils.config_args
- tbp.monty.frameworks.config_utils.make_dataset_configs
- tbp.monty.frameworks.config_utils.policy_setup_utils
BasePolicyConfig
InformedPolicyConfig
InformedPolicyConfig.action_sampler_args
InformedPolicyConfig.action_sampler_class
InformedPolicyConfig.agent_id
InformedPolicyConfig.desired_object_distance
InformedPolicyConfig.file_name
InformedPolicyConfig.good_view_percentage
InformedPolicyConfig.min_perc_on_obj
InformedPolicyConfig.switch_frequency
InformedPolicyConfig.use_goal_state_driven_actions
NaiveScanPolicyConfig
SurfaceCurveInformedPolicyConfig
SurfacePolicyConfig
generate_action_list()
make_base_policy_config()
make_curv_surface_policy_config()
make_informed_policy_config()
make_naive_scan_policy_config()
make_surface_policy_config()
- tbp.monty.frameworks.environment_utils
- tbp.monty.frameworks.environment_utils.graph_utils
- tbp.monty.frameworks.environment_utils.habitat_utils
- tbp.monty.frameworks.environment_utils.server
- tbp.monty.frameworks.environment_utils.transforms
AddNoiseToRawDepthImage
DepthTo3DLocations
DepthTo3DLocations.agent_id
DepthTo3DLocations.resolution
DepthTo3DLocations.zoom
DepthTo3DLocations.hfov
DepthTo3DLocations.semantic_sensor
DepthTo3DLocations.depth_sensor
DepthTo3DLocations.world_coord
DepthTo3DLocations.get_all_points
DepthTo3DLocations.depth_clip_sensors
DepthTo3DLocations.clip_value
DepthTo3DLocations.clip()
DepthTo3DLocations.get_on_surface_th()
DepthTo3DLocations.get_semantic_from_depth()
GaussianSmoothing
MissingToMaxDepth
- tbp.monty.frameworks.environments
- tbp.monty.frameworks.environments.embodied_data
- tbp.monty.frameworks.environments.embodied_environment
- tbp.monty.frameworks.environments.habitat
AgentConfig
HabitatActionSpace
HabitatEnvironment
MultiSensorAgentArgs
MultiSensorAgentArgs.action_space_type
MultiSensorAgentArgs.agent_id
MultiSensorAgentArgs.height
MultiSensorAgentArgs.position
MultiSensorAgentArgs.positions
MultiSensorAgentArgs.resolutions
MultiSensorAgentArgs.rotation
MultiSensorAgentArgs.rotation_step
MultiSensorAgentArgs.rotations
MultiSensorAgentArgs.semantics
MultiSensorAgentArgs.sensor_ids
MultiSensorAgentArgs.translation_step
MultiSensorAgentArgs.zooms
ObjectConfig
SingleSensorAgentArgs
SingleSensorAgentArgs.action_space
SingleSensorAgentArgs.action_space_type
SingleSensorAgentArgs.agent_id
SingleSensorAgentArgs.agent_position
SingleSensorAgentArgs.height
SingleSensorAgentArgs.resolution
SingleSensorAgentArgs.rotation
SingleSensorAgentArgs.rotation_step
SingleSensorAgentArgs.semantic
SingleSensorAgentArgs.sensor_id
SingleSensorAgentArgs.sensor_position
SingleSensorAgentArgs.translation_step
SingleSensorAgentArgs.zoom
- tbp.monty.frameworks.environments.real_robots
- tbp.monty.frameworks.environments.two_d_data
OmniglotEnvironment
OmniglotEnvironment.close()
OmniglotEnvironment.get_image_patch()
OmniglotEnvironment.get_state()
OmniglotEnvironment.load_new_character_data()
OmniglotEnvironment.motor_to_locations()
OmniglotEnvironment.reset()
OmniglotEnvironment.step()
OmniglotEnvironment.switch_to_object()
OmniglotEnvironment.action_space
SaccadeOnImageEnvironment
SaccadeOnImageEnvironment.close()
SaccadeOnImageEnvironment.get_3d_coordinates_from_pixel_indices()
SaccadeOnImageEnvironment.get_3d_scene_point_cloud()
SaccadeOnImageEnvironment.get_image_patch()
SaccadeOnImageEnvironment.get_move_area()
SaccadeOnImageEnvironment.get_next_loc()
SaccadeOnImageEnvironment.get_state()
SaccadeOnImageEnvironment.load_depth_data()
SaccadeOnImageEnvironment.load_new_scene_data()
SaccadeOnImageEnvironment.load_rgb_data()
SaccadeOnImageEnvironment.process_depth_data()
SaccadeOnImageEnvironment.reset()
SaccadeOnImageEnvironment.step()
SaccadeOnImageEnvironment.switch_to_object()
SaccadeOnImageEnvironment.action_space
SaccadeOnImageFromStreamEnvironment
- tbp.monty.frameworks.environments.ycb
- tbp.monty.frameworks.experiments
- tbp.monty.frameworks.loggers
- tbp.monty.frameworks.loggers.exp_logger
BaseMontyLogger
BaseMontyLogger.close()
BaseMontyLogger.flush()
BaseMontyLogger.post_episode()
BaseMontyLogger.post_epoch()
BaseMontyLogger.post_eval()
BaseMontyLogger.post_step()
BaseMontyLogger.post_train()
BaseMontyLogger.pre_episode()
BaseMontyLogger.pre_epoch()
BaseMontyLogger.pre_eval()
BaseMontyLogger.pre_step()
BaseMontyLogger.pre_train()
LoggingCallbackHandler
LoggingCallbackHandler.call_event()
LoggingCallbackHandler.close()
LoggingCallbackHandler.post_episode()
LoggingCallbackHandler.post_epoch()
LoggingCallbackHandler.post_eval()
LoggingCallbackHandler.post_step()
LoggingCallbackHandler.post_train()
LoggingCallbackHandler.pre_episode()
LoggingCallbackHandler.pre_epoch()
LoggingCallbackHandler.pre_eval()
LoggingCallbackHandler.pre_step()
LoggingCallbackHandler.pre_train()
LoggingCallbackHandler.logger_list
TestLogger
- tbp.monty.frameworks.loggers.graph_matching_loggers
- tbp.monty.frameworks.loggers.monty_handlers
- tbp.monty.frameworks.loggers.wandb_handlers
- tbp.monty.frameworks.loggers.exp_logger
- tbp.monty.frameworks.models
- tbp.monty.frameworks.models.abstract_monty_classes
GoalStateGenerator
LMMemory
LearningModule
LearningModule.exploratory_step()
LearningModule.get_output()
LearningModule.load_state_dict()
LearningModule.matching_step()
LearningModule.post_episode()
LearningModule.pre_episode()
LearningModule.propose_goal_state()
LearningModule.receive_votes()
LearningModule.reset()
LearningModule.send_out_vote()
LearningModule.set_experiment_mode()
LearningModule.state_dict()
Monty
ObjectModel
SensorModule
- tbp.monty.frameworks.models.buffer
BaseBuffer
BufferEncoder
FeatureAtLocationBuffer
FeatureAtLocationBuffer.add_overall_stats()
FeatureAtLocationBuffer.append()
FeatureAtLocationBuffer.append_input_states()
FeatureAtLocationBuffer.get_all_features_on_object()
FeatureAtLocationBuffer.get_all_input_states()
FeatureAtLocationBuffer.get_all_locations_on_object()
FeatureAtLocationBuffer.get_buffer_len_by_channel()
FeatureAtLocationBuffer.get_current_displacement()
FeatureAtLocationBuffer.get_current_features()
FeatureAtLocationBuffer.get_current_location()
FeatureAtLocationBuffer.get_current_pose()
FeatureAtLocationBuffer.get_current_ppf()
FeatureAtLocationBuffer.get_currently_on_object()
FeatureAtLocationBuffer.get_first_displacement_len()
FeatureAtLocationBuffer.get_first_sensory_input_channel()
FeatureAtLocationBuffer.get_infos_for_graph_update()
FeatureAtLocationBuffer.get_last_obs_processed()
FeatureAtLocationBuffer.get_matching_step_when_output_goal_set()
FeatureAtLocationBuffer.get_nth_displacement()
FeatureAtLocationBuffer.get_num_goal_states_generated()
FeatureAtLocationBuffer.get_num_matching_steps()
FeatureAtLocationBuffer.get_num_observations_on_object()
FeatureAtLocationBuffer.get_num_steps_post_output_goal_generated()
FeatureAtLocationBuffer.get_previous_input_states()
FeatureAtLocationBuffer.reset()
FeatureAtLocationBuffer.set_individual_ts()
FeatureAtLocationBuffer.update_last_stats_entry()
FeatureAtLocationBuffer.update_stats()
- tbp.monty.frameworks.models.displacement_matching
- tbp.monty.frameworks.models.evidence_matching
EvidenceGraphLM
EvidenceGraphLM.collect_stats_to_save()
EvidenceGraphLM.get_all_evidences()
EvidenceGraphLM.get_current_mlh()
EvidenceGraphLM.get_evidence_for_each_graph()
EvidenceGraphLM.get_mlh_for_object()
EvidenceGraphLM.get_output()
EvidenceGraphLM.get_possible_hypothesis_ids()
EvidenceGraphLM.get_possible_matches()
EvidenceGraphLM.get_possible_poses()
EvidenceGraphLM.get_top_two_mlh_ids()
EvidenceGraphLM.get_top_two_pose_hypotheses_for_graph_id()
EvidenceGraphLM.get_unique_pose_if_available()
EvidenceGraphLM.receive_votes()
EvidenceGraphLM.reset()
EvidenceGraphLM.send_out_vote()
EvidenceGraphLM.set_detected_object()
EvidenceGraphMemory
MontyForEvidenceGraphMatching
- tbp.monty.frameworks.models.evidence_sdr_matching
- tbp.monty.frameworks.models.feature_location_matching
- tbp.monty.frameworks.models.goal_state_generation
- tbp.monty.frameworks.models.graph_matching
GraphLM
GraphLM.add_lm_processing_to_buffer_stats()
GraphLM.collect_stats_to_save()
GraphLM.exploratory_step()
GraphLM.get_all_known_object_ids()
GraphLM.get_graph()
GraphLM.get_input_channels_in_graph()
GraphLM.get_object_scale()
GraphLM.get_output()
GraphLM.get_possible_locations()
GraphLM.get_possible_matches()
GraphLM.get_possible_paths()
GraphLM.get_possible_poses()
GraphLM.get_unique_pose_if_available()
GraphLM.load_state_dict()
GraphLM.matching_step()
GraphLM.post_episode()
GraphLM.pre_episode()
GraphLM.propose_goal_state()
GraphLM.receive_votes()
GraphLM.reset()
GraphLM.send_out_vote()
GraphLM.set_detected_object()
GraphLM.set_experiment_mode()
GraphLM.set_individual_ts()
GraphLM.state_dict()
GraphLM.update_terminal_condition()
GraphMemory
GraphMemory.get_all_models_in_memory()
GraphMemory.get_feature_array()
GraphMemory.get_feature_order()
GraphMemory.get_features_at_node()
GraphMemory.get_graph()
GraphMemory.get_graph_node_ids()
GraphMemory.get_initial_hypotheses()
GraphMemory.get_input_channels_in_graph()
GraphMemory.get_locations_in_graph()
GraphMemory.get_memory_ids()
GraphMemory.get_num_nodes_in_graph()
GraphMemory.initialize_feature_arrays()
GraphMemory.load_state_dict()
GraphMemory.memory_consolidation()
GraphMemory.remove_graph_from_memory()
GraphMemory.state_dict()
GraphMemory.update_memory()
MontyForGraphMatching
MontyForGraphMatching.check_if_any_lms_updated()
MontyForGraphMatching.check_terminal_conditions()
MontyForGraphMatching.deal_with_time_out()
MontyForGraphMatching.load_state_dict_from_parallel()
MontyForGraphMatching.pre_episode()
MontyForGraphMatching.reset()
MontyForGraphMatching.send_vote_to_lm()
MontyForGraphMatching.set_is_done()
MontyForGraphMatching.update_stats_after_vote()
MontyForGraphMatching.LOGGING_REGISTRY
- tbp.monty.frameworks.models.monty_base
LearningModuleBase
LearningModuleBase.exploratory_step()
LearningModuleBase.get_output()
LearningModuleBase.load_state_dict()
LearningModuleBase.matching_step()
LearningModuleBase.post_episode()
LearningModuleBase.pre_episode()
LearningModuleBase.propose_goal_state()
LearningModuleBase.receive_votes()
LearningModuleBase.reset()
LearningModuleBase.send_out_vote()
LearningModuleBase.set_experiment_mode()
LearningModuleBase.state_dict()
MontyBase
MontyBase.aggregate_sensory_inputs()
MontyBase.check_reached_max_matching_steps()
MontyBase.deal_with_time_out()
MontyBase.get_agent_state()
MontyBase.get_observations()
MontyBase.load_state_dict()
MontyBase.pass_features_directly_to_motor_system()
MontyBase.post_episode()
MontyBase.pre_episode()
MontyBase.reset_episode_steps()
MontyBase.set_done()
MontyBase.set_experiment_mode()
MontyBase.state_dict()
MontyBase.step()
MontyBase.switch_to_exploratory_step()
MontyBase.switch_to_matching_step()
MontyBase.update_step_counters()
MontyBase.LOGGING_REGISTRY
MontyBase.exceeded_min_steps
MontyBase.is_done
MontyBase.is_motor_only_step
MontyBase.min_steps
MontyBase.step_type_count
SensorModuleBase
- tbp.monty.frameworks.models.motor_policies
- tbp.monty.frameworks.models.object_model
GridTooSmallError
GraphObjectModel
GraphObjectModel.add_ppf_to_graph()
GraphObjectModel.build_model()
GraphObjectModel.get_values_for_feature()
GraphObjectModel.set_graph()
GraphObjectModel.update_model()
GraphObjectModel.edge_attr
GraphObjectModel.edge_index
GraphObjectModel.feature_ids_in_graph
GraphObjectModel.feature_mapping
GraphObjectModel.norm
GraphObjectModel.num_nodes
GraphObjectModel.pos
GraphObjectModel.x
GridObjectModel
- tbp.monty.frameworks.models.sensor_modules
- tbp.monty.frameworks.models.states
GoalState
State
State.location
State.morphological_features
State.non_morphological_features
State.confidence
State.use_state
State.sender_id
State.sender_type
State.get_curvature_directions()
State.get_feature_by_name()
State.get_nth_pose_vector()
State.get_on_object()
State.get_point_normal()
State.get_pose_vectors()
State.set_displacement()
State.transform_morphological_features()
- tbp.monty.frameworks.models.abstract_monty_classes
- tbp.monty.frameworks.utils
- tbp.monty.frameworks.utils.communication_utils
- tbp.monty.frameworks.utils.dataclass_utils
- tbp.monty.frameworks.utils.follow_up_configs
- tbp.monty.frameworks.utils.graph_matching_utils
add_pose_features_to_tolerances()
create_exponential_kernel()
detect_new_object_exponential()
detect_new_object_k_steps()
find_step_on_new_object()
get_correct_k_n()
get_custom_distances()
get_initial_possible_poses()
get_relevant_curvature()
get_scaled_evidences()
get_uniform_initial_possible_poses()
get_unique_paths()
is_in_ranges()
process_delta_evidence_values()
- tbp.monty.frameworks.utils.logging_utils
add_evidence_lm_episode_stats()
add_policy_episode_stats()
add_pose_lm_episode_stats()
calculate_fpr()
calculate_performance()
calculate_tpr()
check_detection_accuracy_at_step()
check_rotation_accuracy()
compute_unsupervised_stats()
deserialize_json_chunks()
format_columns_for_wandb()
get_graph_lm_episode_stats()
get_object_graph_stats()
get_overall_pose_error()
get_pose_error()
get_reverse_rotation()
get_rgba_frames_single_sm()
get_stats_per_lm()
get_time_stats()
get_unique_euler_poses()
lm_stats_to_dataframe()
load_models_from_dir()
load_stats()
matches_to_target_str()
maybe_rename_existing_directory()
maybe_rename_existing_file()
print_overall_stats()
print_unsupervised_stats()
target_data_to_dict()
total_size()
- tbp.monty.frameworks.utils.object_model_utils
- tbp.monty.frameworks.utils.plot_utils
- tbp.monty.frameworks.utils.profile_utils
- tbp.monty.frameworks.utils.sensor_processing
- tbp.monty.frameworks.utils.spatial_arithmetics
align_multiple_orthonormal_vectors()
align_orthonormal_vectors()
apply_rf_transform_to_points()
check_orthonormal()
euler_to_quats()
get_angle()
get_angle_beefed_up()
get_angle_torch()
get_angles_for_all_hypotheses()
get_more_directions_in_plane()
get_right_hand_angle()
get_unique_rotations()
non_singular_mat()
pose_is_new()
rot_mats_to_quats()
rotate_multiple_pose_dependent_features()
rotate_pose_dependent_features()
rotations_to_quats()
- tbp.monty.frameworks.utils.transform_utils
tbp.monty.frameworks.run#
- main(all_configs, experiments=None)[source]#
Use this as “main” function when running monty experiments.
A typical project run.py shoud look like this:
# Load all experiment configurations from local project from experiments import CONFIGS from tbp.monty.frameworks.run import main if __name__ == "__main__": main(all_configs=CONFIGS)
- Parameters:
all_configs – Dict containing all available experiment configurations. Usually each project would have its own list of experiment configurations
experiments – Optional list of experiments to run, used to bypass the command line args
- merge_args(config, cmd_args=None)[source]#
Override experiment “config” parameters with command line args.
- Returns:
Updated config with command line args.