vllm_omni.diffusion.models.cosmos3.utils ¶

build_abs_pose_from_components(*args, **kwargs) -> ndarray

build_robolab_unipc_scheduler(
    num_steps: int, shift: float, device: device
)

compose_robolab_views(
    obs: dict[str, Any],
) -> ndarray | None

condition_pixel_frame_count(
    condition_frame_indexes_vision: Iterable[int],
    temporal_compression: int = COSMOS3_VAE_TEMPORAL_COMPRESSION,
) -> int

convert_midtrain_rotation(
    value: Any, src: str, dst: str
) -> ndarray

ensure_2d_float_array(
    value: Any, key: str, width: int | None = None
) -> ndarray

ensure_gripper_array(value: Any) -> ndarray

ensure_rgb_uint8_image(value: Any, key: str) -> ndarray

extract_robolab_image(obs: dict[str, Any]) -> ndarray

extract_robolab_prompt_image(
    prompt_data: Any | None,
) -> ndarray | None

lazy_action_transform_pipeline(max_action_dim: int)

lazy_import(
    module_name: str, symbol_name: str, error_message: str
)

log_robolab_action_summary(label: str, value: Any) -> None

make_robolab_action_postprocess_inputs(
    inputs: RoboLabPolicyInputs,
) -> RoboLabActionPostprocessInputs

next_robolab_seed(
    extra: dict[str, Any],
    obs: dict[str, Any],
    request_id: str | None,
) -> int

normalize_condition_frame_indexes_vision(
    value: Any,
) -> tuple[int, ...]

normalize_condition_video_keep(value: Any) -> str

normalize_robolab_action_space(value: Any) -> str

pose_abs_to_rel(*args, **kwargs) -> ndarray

pose_rel_to_abs(*args, **kwargs) -> ndarray

postprocess_robolab_action(
    action: Tensor, inputs: RoboLabActionPostprocessInputs
) -> ndarray

resize_rgb_uint8(
    image: ndarray, size: tuple[int, int]
) -> ndarray