tbp.monty

• tbp.monty.frameworks
  • tbp.monty.frameworks.actions
    • tbp.monty.frameworks.actions.action_samplers
      • ActionSampler
      • ConstantSampler
      • UniformlyDistributedSampler
    • tbp.monty.frameworks.actions.actions
      • Action
      • LookDown
      • LookDownActionSampler
      • LookDownActuator
      • LookUp
      • LookUpActionSampler
      • LookUpActuator
      • MoveForward
      • MoveForwardActionSampler
      • MoveForwardActuator
      • MoveTangentially
      • MoveTangentiallyActionSampler
      • MoveTangentiallyActuator
      • OrientHorizontal
      • OrientHorizontalActionSampler
      • OrientHorizontalActuator
      • OrientVertical
      • OrientVerticalActionSampler
      • OrientVerticalActuator
      • SetAgentPitch
      • SetAgentPitchActionSampler
      • SetAgentPitchActuator
      • SetAgentPose
      • SetAgentPoseActionSampler
      • SetAgentPoseActuator
      • SetSensorPitch
      • SetSensorPitchActionSampler
      • SetSensorPitchActuator
      • SetSensorPose
      • SetSensorPoseActionSampler
      • SetSensorPoseActuator
      • SetSensorRotation
      • SetSensorRotationActionSampler
      • SetSensorRotationActuator
      • SetYaw
      • SetYawActionSampler
      • SetYawActuator
      • TurnLeft
      • TurnLeftActionSampler
      • TurnLeftActuator
      • TurnRight
      • TurnRightActionSampler
      • TurnRightActuator
  • tbp.monty.frameworks.config_utils
    • tbp.monty.frameworks.config_utils.make_env_interface_configs
      • DefaultObjectInitializer
      • PredefinedObjectInitializer
      • RandomRotationObjectInitializer
      • make_sensor_positions_on_grid()
  • tbp.monty.frameworks.environment_utils
    • tbp.monty.frameworks.environment_utils.graph_utils
      • get_edge_index()
    • tbp.monty.frameworks.environment_utils.server
      • MontyRequestHandler
    • tbp.monty.frameworks.environment_utils.transforms
      • AddNoiseToRawDepthImage
      • DepthTo3DLocations
      • GaussianSmoothing
      • MissingToMaxDepth
  • tbp.monty.frameworks.environments
    • tbp.monty.frameworks.environments.embodied_data
      • EnvironmentInterface
      • EnvironmentInterfacePerObject
      • InformedEnvironmentInterface
      • OmniglotEnvironmentInterface
      • SaccadeOnImageEnvironmentInterface
      • SaccadeOnImageFromStreamEnvironmentInterface
    • tbp.monty.frameworks.environments.embodied_environment
      • EmbodiedEnvironment
      • ObjectID
      • ObjectInfo
      • SemanticID
    • tbp.monty.frameworks.environments.two_d_data
      • OmniglotEnvironment
      • SaccadeOnImageEnvironment
      • SaccadeOnImageFromStreamEnvironment
  • tbp.monty.frameworks.experiments
    • MontyExperiment
      • MontyExperiment.__init__()
      • MontyExperiment.close()
      • MontyExperiment.create_env_interface()
      • MontyExperiment.evaluate()
      • MontyExperiment.get_epoch_state()
      • MontyExperiment.init_counters()
      • MontyExperiment.init_env()
      • MontyExperiment.init_loggers()
      • MontyExperiment.init_model()
      • MontyExperiment.init_monty_data_loggers()
      • MontyExperiment.load_environment_interfaces()
      • MontyExperiment.load_state_dict()
      • MontyExperiment.post_episode()
      • MontyExperiment.post_epoch()
      • MontyExperiment.post_step()
      • MontyExperiment.pre_episode()
      • MontyExperiment.pre_epoch()
      • MontyExperiment.pre_step()
      • MontyExperiment.run_episode()
      • MontyExperiment.run_epoch()
      • MontyExperiment.save_state_dict()
      • MontyExperiment.setup_experiment()
      • MontyExperiment.state_dict()
      • MontyExperiment.train()
      • MontyExperiment.logger_args
    • MontyGeneralizationExperiment
      • MontyGeneralizationExperiment.pre_episode()
    • MontyObjectRecognitionExperiment
      • MontyObjectRecognitionExperiment.pre_episode()
      • MontyObjectRecognitionExperiment.run_episode()
      • MontyObjectRecognitionExperiment.run_episode_steps()
    • MontySupervisedObjectPretrainingExperiment
      • MontySupervisedObjectPretrainingExperiment.__init__()
      • MontySupervisedObjectPretrainingExperiment.evaluate()
      • MontySupervisedObjectPretrainingExperiment.post_epoch()
      • MontySupervisedObjectPretrainingExperiment.pre_episode()
      • MontySupervisedObjectPretrainingExperiment.run_episode()
      • MontySupervisedObjectPretrainingExperiment.setup_experiment()
      • MontySupervisedObjectPretrainingExperiment.train()
    • ProfileExperimentMixin
      • ProfileExperimentMixin.close()
      • ProfileExperimentMixin.evaluate()
      • ProfileExperimentMixin.make_profile_dir()
      • ProfileExperimentMixin.run_episode()
      • ProfileExperimentMixin.setup_experiment()
      • ProfileExperimentMixin.train()
    • tbp.monty.frameworks.experiments.data_collection_experiments
      • DataCollectionExperiment
    • tbp.monty.frameworks.experiments.monty_experiment
      • MontyExperiment
    • tbp.monty.frameworks.experiments.object_recognition_experiments
      • MontyGeneralizationExperiment
      • MontyObjectRecognitionExperiment
    • tbp.monty.frameworks.experiments.pretraining_experiments
      • MontySupervisedObjectPretrainingExperiment
    • tbp.monty.frameworks.experiments.profile
      • ProfileExperimentMixin
      • make_stats_df()
  • tbp.monty.frameworks.loggers
    • tbp.monty.frameworks.loggers.exp_logger
      • BaseMontyLogger
      • LoggingCallbackHandler
      • TestLogger
    • tbp.monty.frameworks.loggers.graph_matching_loggers
      • BasicGraphMatchingLogger
      • DetailedGraphMatchingLogger
      • SelectiveEvidenceLogger
    • tbp.monty.frameworks.loggers.monty_handlers
      • BasicCSVStatsHandler
      • DetailedJSONHandler
      • MontyHandler
      • ReproduceEpisodeHandler
    • tbp.monty.frameworks.loggers.wandb_handlers
      • BasicWandbChartStatsHandler
      • BasicWandbTableStatsHandler
      • DetailedWandbHandler
      • DetailedWandbMarkedObsHandler
      • DetailedWandbTableStatsHandler
      • WandbHandler
      • WandbWrapper
  • tbp.monty.frameworks.models
    • tbp.monty.frameworks.models.evidence_matching
      • tbp.monty.frameworks.models.evidence_matching.feature_evidence
      • tbp.monty.frameworks.models.evidence_matching.features_for_matching
      • tbp.monty.frameworks.models.evidence_matching.graph_memory
      • tbp.monty.frameworks.models.evidence_matching.hypotheses
      • tbp.monty.frameworks.models.evidence_matching.hypotheses_displacer
      • tbp.monty.frameworks.models.evidence_matching.hypotheses_updater
      • tbp.monty.frameworks.models.evidence_matching.learning_module
      • tbp.monty.frameworks.models.evidence_matching.model
      • tbp.monty.frameworks.models.evidence_matching.resampling_hypotheses_updater
    • tbp.monty.frameworks.models.mixins
      • tbp.monty.frameworks.models.mixins.no_reset_evidence
    • tbp.monty.frameworks.models.salience
      • tbp.monty.frameworks.models.salience.on_object_observation
      • tbp.monty.frameworks.models.salience.return_inhibitor
      • tbp.monty.frameworks.models.salience.sensor_module
      • tbp.monty.frameworks.models.salience.strategies
    • tbp.monty.frameworks.models.abstract_monty_classes
      • GoalStateGenerator
      • LMMemory
      • LearningModule
      • Monty
      • ObjectModel
      • SensorModule
    • tbp.monty.frameworks.models.buffer
      • BufferEncoder
      • FeatureAtLocationBuffer
    • tbp.monty.frameworks.models.displacement_matching
      • DisplacementGraphLM
      • DisplacementGraphMemory
    • tbp.monty.frameworks.models.evidence_sdr_matching
      • EncoderSDR
      • EvidenceSDRGraphLM
      • EvidenceSDRLMMixin
      • EvidenceSDRTargetOverlaps
      • LoggerSDR
    • tbp.monty.frameworks.models.feature_location_matching
      • FeatureGraphLM
      • FeatureGraphMemory
    • tbp.monty.frameworks.models.goal_state_generation
      • EvidenceGoalStateGenerator
      • GraphGoalStateGenerator
    • tbp.monty.frameworks.models.graph_matching
      • GraphLM
      • GraphMemory
      • MontyForGraphMatching
    • tbp.monty.frameworks.models.monty_base
      • MontyBase
    • tbp.monty.frameworks.models.motor_policies
      • ObjectNotVisible
      • BasePolicy
      • GetGoodView
      • InformedPolicy
      • JumpToGoalStateMixin
      • MotorPolicy
      • NaiveScanPolicy
      • PositioningProcedure
      • PositioningProcedureResult
      • SurfacePolicy
      • SurfacePolicyCurvatureInformed
      • enforce_pi_bounds()
      • get_perc_on_obj_semantic()
      • projected_angle_from_vec()
      • projected_vec_from_angle()
      • read_action_file()
      • theta_change()
      • write_action_file()
    • tbp.monty.frameworks.models.motor_system
      • MotorSystem
    • tbp.monty.frameworks.models.motor_system_state
      • AgentState
      • MotorSystemState
      • ProprioceptiveState
      • SensorState
    • tbp.monty.frameworks.models.no_reset_evidence_matching
      • MontyForNoResetEvidenceGraphMatching
      • NoResetEvidenceGraphLM
    • tbp.monty.frameworks.models.object_model
      • GridTooSmallError
      • GraphObjectModel
      • GridObjectModel
    • tbp.monty.frameworks.models.sensor_modules
      • DefaultMessageNoise
      • FeatureChangeFilter
      • HabitatObservation
      • HabitatObservationProcessor
      • HabitatObservationProcessorTelemetry
      • HabitatSM
      • MessageNoise
      • PassthroughStateFilter
      • Probe
      • SnapshotTelemetry
      • StateFilter
      • SurfaceNormalMethod
      • no_message_noise()
    • tbp.monty.frameworks.models.states
      • GoalState
      • State
      • encode_goal_state()
  • tbp.monty.frameworks.utils
    • tbp.monty.frameworks.utils.communication_utils
      • get_first_sensory_state()
      • get_state_from_channel()
    • tbp.monty.frameworks.utils.dataclass_utils
      • Dataclass
      • as_dataclass_dict()
      • create_dataclass_args()
      • from_dataclass_dict()
    • tbp.monty.frameworks.utils.evidence_matching
      • InvalidEvidenceThresholdConfig
      • ChannelMapper
      • EvidenceSlopeTracker
      • evidence_update_threshold()
    • tbp.monty.frameworks.utils.follow_up_configs
      • create_eval_config_multiple_episodes()
      • create_eval_episode_config()
      • create_eval_episode_hydra_cfg()
      • create_eval_multiple_episodes_hydra_cfg()
      • recover_output_dir()
      • recover_run_name()
      • recover_wandb_id()
    • 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()
      • possible_sensed_directions()
      • process_delta_evidence_values()
    • tbp.monty.frameworks.utils.live_plotter
      • LivePlotter
    • tbp.monty.frameworks.utils.logging_utils
      • accuracy_stats_for_compositional_objects()
      • 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()
      • compositional_stats_for_all_lms()
      • compute_pose_error()
      • compute_pose_errors()
      • compute_unsupervised_stats()
      • consistent_child_objects_accuracy()
      • deserialize_json_chunks()
      • format_columns_for_wandb()
      • get_graph_lm_episode_stats()
      • get_object_graph_stats()
      • 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_dir()
      • maybe_rename_existing_file()
      • mean_num_steps_for_lm()
      • overall_accuracy()
      • print_overall_stats()
      • print_unsupervised_stats()
      • target_data_to_dict()
      • total_size()
    • tbp.monty.frameworks.utils.object_model_utils
      • NumpyGraph
      • already_in_list()
      • build_point_cloud_graph()
      • circular_mean()
      • expand_index_dims()
      • get_cubic_patches()
      • get_most_common_bool()
      • get_most_common_value()
      • get_values_from_dense_last_dim()
      • increment_sparse_tensor_by_count()
      • pose_vector_mean()
      • remove_close_points()
      • torch_graph_to_numpy()
    • tbp.monty.frameworks.utils.plot_utils
      • add_patch_outline_to_view_finder()
      • mark_obs()
    • tbp.monty.frameworks.utils.plot_utils_analysis
    • tbp.monty.frameworks.utils.plot_utils_dev
    • tbp.monty.frameworks.utils.profile_utils
      • bar_chart_cumtime()
      • bar_chart_tottime()
      • drop_filename()
      • get_data_from_df()
      • get_total_time()
      • linebreak_long_strings()
      • print_top_k_functions()
      • sort_by_cumtime()
      • sort_by_tottime()
    • tbp.monty.frameworks.utils.sensor_processing
      • center_neighbors()
      • curvature_at_point()
      • log_sign()
      • pixel_dist_to_center()
      • point_pair_features()
      • principal_curvatures()
      • scale_clip()
      • surface_normal_naive()
      • surface_normal_ordinary_least_squares()
      • surface_normal_total_least_squares()
      • weight_matrix()
    • 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
      • numpy_to_scipy_quat()
      • rotation_as_quat()
      • rotation_from_quat()
      • scipy_to_numpy_quat()
  • tbp.monty.frameworks.agents
    • AgentID()
  • tbp.monty.frameworks.run
    • main()
    • print_config()
  • tbp.monty.frameworks.run_env
    • setup_env()
  • tbp.monty.frameworks.run_parallel
    • cat_csv()
    • cat_files()
    • collect_detailed_episodes_names()
    • filter_episode_configs()
    • generate_parallel_eval_configs()
    • generate_parallel_train_configs()
    • get_episode_stats()
    • get_overall_stats()
    • main()
    • move_reproducibility_data()
    • mv_files()
    • parse_episode_spec()
    • post_parallel_eval()
    • post_parallel_log_cleanup()
    • post_parallel_profile_cleanup()
    • post_parallel_train()
    • print_config()
    • run_episodes_parallel()
    • sample_params_to_init_args()
    • single_evaluate()
    • single_train()
• tbp.monty.simulators
  • tbp.monty.simulators.habitat
    • tbp.monty.simulators.habitat.actions
      • SetAgentPitch
      • SetAgentPose
      • SetSensorPitch
      • SetSensorPose
      • SetSensorRotation
      • SetYaw
    • tbp.monty.simulators.habitat.actuator
      • HabitatActuator
      • HabitatActuatorRequirements
    • tbp.monty.simulators.habitat.agents
      • HabitatAgent
      • MultiSensorAgent
      • SingleSensorAgent
    • tbp.monty.simulators.habitat.environment
      • AgentConfig
      • HabitatEnvironment
      • MultiSensorAgentArgs
      • ObjectConfig
      • SingleSensorAgentArgs
    • tbp.monty.simulators.habitat.sensors
      • RGBDSensorConfig
      • SemanticSensorConfig
      • SensorConfig
    • tbp.monty.simulators.habitat.simulator
      • HabitatSim
      • PRIMITIVE_OBJECT_TYPES
  • tbp.monty.simulators.mujoco
    • tbp.monty.simulators.mujoco.simulator
  • tbp.monty.simulators.resources
    • tbp.monty.simulators.resources.tacto
  • tbp.monty.simulators.tacto
    • tbp.monty.simulators.tacto.agents
      • TactoFingerAgent
    • tbp.monty.simulators.tacto.config
      • TactoSensorSpec
    • tbp.monty.simulators.tacto.sensors
      • TactoSensor
  • tbp.monty.simulators.simulator
    • Simulator
      • Simulator.__init__()
      • Simulator.add_object()
      • Simulator.apply_actions()
      • Simulator.close()
      • Simulator.initialize_agent()
      • Simulator.remove_all_objects()
      • Simulator.reset()
      • Simulator.num_objects
      • Simulator.observations
      • Simulator.states

tbp.monty.hydra

agent_id_resolver(agent_id: str) → AgentID

Returns an AgentID new type from a string.

Return type:

NewType()(AgentID, str)

monty_class_resolver(class_name: str) → type

Returns a class object by fully qualified path.

Return type:

type

TODO: This is an interim solution to retrieve my_class in

the my_class(**my_args) pattern.

ndarray_resolver(list_or_tuple: list | tuple) → np.ndarray

Returns a numpy array from a list or tuple.

Return type:

np.ndarray

numpy_list_eval_resolver(expr_list: list) → list[float]

ones_resolver(n: int) → numpy.ndarray

Returns a numpy array of ones.

Return type:

ndarray

path_expanduser_resolver(path: str) → str

Returns a path with ~ expanded to the user’s home directory.

Return type:

str

register_resolvers() → None

Return type:

None