curobo.opt.particle package

This module contains particle-based optimization solvers.

Submodules

• curobo.opt.particle.parallel_es module
  • ParallelESConfig
    • ParallelESConfig.learning_rate
    • ParallelESConfig.create_data_dict
    • ParallelESConfig.init_mean
    • ParallelESConfig.init_cov
    • ParallelESConfig.base_action
    • ParallelESConfig.step_size_mean
    • ParallelESConfig.step_size_cov
    • ParallelESConfig.null_act_frac
    • ParallelESConfig.squash_fn
    • ParallelESConfig.cov_type
    • ParallelESConfig.sample_params
    • ParallelESConfig.update_cov
    • ParallelESConfig.random_mean
    • ParallelESConfig.beta
    • ParallelESConfig.alpha
    • ParallelESConfig.gamma
    • ParallelESConfig.kappa
    • ParallelESConfig.sample_per_problem
    • ParallelESConfig.sample_mode
    • ParallelESConfig.seed
    • ParallelESConfig.calculate_value
    • ParallelESConfig.store_rollouts
    • ParallelESConfig.d_action
    • ParallelESConfig.action_lows
    • ParallelESConfig.action_highs
    • ParallelESConfig.action_horizon
    • ParallelESConfig.horizon
    • ParallelESConfig.n_iters
    • ParallelESConfig.cold_start_n_iters
    • ParallelESConfig.rollout_fn
    • ParallelESConfig.tensor_args
    • ParallelESConfig.use_cuda_graph
    • ParallelESConfig.store_debug
    • ParallelESConfig.debug_info
    • ParallelESConfig.n_problems
    • ParallelESConfig.num_particles
    • ParallelESConfig.sync_cuda_time
    • ParallelESConfig.use_coo_sparse
  • ParallelES
    • ParallelES._compute_mean
    • ParallelES._exp_util_from_costs
    • ParallelES._exp_util
    • ParallelES._compute_mean_covariance
    • ParallelES._update_distribution
    • ParallelES._calc_val
    • ParallelES._call_cuda_opt_iters
    • ParallelES._compute_covariance
    • ParallelES._compute_total_cost
    • ParallelES._get_action_seq
    • ParallelES._initialize_cuda_graph
    • ParallelES._optimize
    • ParallelES._run_opt_iters
    • ParallelES._shift
    • ParallelES._update_cov_scale
    • ParallelES._update_problem_kernel
    • ParallelES.check_convergence
    • ParallelES.create_data_dict
    • ParallelES.entropy
    • ParallelES.full_cov
    • ParallelES.full_inv_cov
    • ParallelES.full_scale_tril
    • ParallelES.generate_noise
    • ParallelES.generate_rollouts
    • ParallelES.get_all_rollout_instances
    • ParallelES.get_nproblem_tensor
    • ParallelES.get_rollouts
    • ParallelES.learning_rate
    • ParallelES.optimize
    • ParallelES.reset
    • ParallelES.reset_covariance
    • ParallelES.reset_cuda_graph
    • ParallelES.reset_distribution
    • ParallelES.reset_mean
    • ParallelES.reset_seed
    • ParallelES.reset_shape
    • ParallelES.sample_actions
    • ParallelES.squashed_mean
    • ParallelES.update_init_mean
    • ParallelES.update_nproblems
    • ParallelES.update_num_particles_per_problem
    • ParallelES.update_params
    • ParallelES.update_samples
    • ParallelES.update_seed
    • ParallelES.d_action
    • ParallelES.action_lows
    • ParallelES.action_highs
    • ParallelES.action_horizon
    • ParallelES.horizon
    • ParallelES.n_iters
    • ParallelES.cold_start_n_iters
    • ParallelES.rollout_fn
    • ParallelES.tensor_args
    • ParallelES.use_cuda_graph
    • ParallelES.store_debug
    • ParallelES.debug_info
    • ParallelES.n_problems
    • ParallelES.num_particles
    • ParallelES.sync_cuda_time
    • ParallelES.use_coo_sparse
    • ParallelES.init_mean
    • ParallelES.init_cov
    • ParallelES.base_action
    • ParallelES.step_size_mean
    • ParallelES.step_size_cov
    • ParallelES.null_act_frac
    • ParallelES.squash_fn
    • ParallelES.cov_type
    • ParallelES.sample_params
    • ParallelES.update_cov
    • ParallelES.random_mean
    • ParallelES.beta
    • ParallelES.alpha
    • ParallelES.gamma
    • ParallelES.kappa
    • ParallelES.sample_per_problem
    • ParallelES.sample_mode
    • ParallelES.seed
    • ParallelES.calculate_value
    • ParallelES.store_rollouts
• curobo.opt.particle.parallel_mppi module
  • BaseActionType
    • BaseActionType.REPEAT
    • BaseActionType.NULL
    • BaseActionType.RANDOM
  • CovType
    • CovType.SIGMA_I
    • CovType.DIAG_A
    • CovType.FULL_A
    • CovType.FULL_HA
  • ParallelMPPIConfig
    • ParallelMPPIConfig.init_mean
    • ParallelMPPIConfig.init_cov
    • ParallelMPPIConfig.base_action
    • ParallelMPPIConfig.step_size_mean
    • ParallelMPPIConfig.step_size_cov
    • ParallelMPPIConfig.null_act_frac
    • ParallelMPPIConfig.squash_fn
    • ParallelMPPIConfig.cov_type
    • ParallelMPPIConfig.sample_params
    • ParallelMPPIConfig.update_cov
    • ParallelMPPIConfig.random_mean
    • ParallelMPPIConfig.beta
    • ParallelMPPIConfig.alpha
    • ParallelMPPIConfig.gamma
    • ParallelMPPIConfig.kappa
    • ParallelMPPIConfig.sample_per_problem
    • ParallelMPPIConfig.create_data_dict
    • ParallelMPPIConfig.sample_mode
    • ParallelMPPIConfig.seed
    • ParallelMPPIConfig.calculate_value
    • ParallelMPPIConfig.store_rollouts
    • ParallelMPPIConfig.d_action
    • ParallelMPPIConfig.action_lows
    • ParallelMPPIConfig.action_highs
    • ParallelMPPIConfig.action_horizon
    • ParallelMPPIConfig.horizon
    • ParallelMPPIConfig.n_iters
    • ParallelMPPIConfig.cold_start_n_iters
    • ParallelMPPIConfig.rollout_fn
    • ParallelMPPIConfig.tensor_args
    • ParallelMPPIConfig.use_cuda_graph
    • ParallelMPPIConfig.store_debug
    • ParallelMPPIConfig.debug_info
    • ParallelMPPIConfig.n_problems
    • ParallelMPPIConfig.num_particles
    • ParallelMPPIConfig.sync_cuda_time
    • ParallelMPPIConfig.use_coo_sparse
  • ParallelMPPI
    • ParallelMPPI.get_rollouts
    • ParallelMPPI.reset_distribution
    • ParallelMPPI._compute_total_cost
    • ParallelMPPI._exp_util
    • ParallelMPPI._exp_util_from_costs
    • ParallelMPPI._compute_mean
    • ParallelMPPI._compute_mean_covariance
    • ParallelMPPI._compute_covariance
    • ParallelMPPI._update_cov_scale
    • ParallelMPPI._update_distribution
    • ParallelMPPI.sample_actions
    • ParallelMPPI.update_seed
    • ParallelMPPI.update_init_mean
    • ParallelMPPI.reset_mean
    • ParallelMPPI.reset_covariance
    • ParallelMPPI._get_action_seq
    • ParallelMPPI.generate_noise
    • ParallelMPPI._calc_val
    • ParallelMPPI.reset
    • ParallelMPPI.squashed_mean
    • ParallelMPPI.full_cov
    • ParallelMPPI.full_inv_cov
    • ParallelMPPI.full_scale_tril
    • ParallelMPPI.entropy
    • ParallelMPPI.reset_seed
    • ParallelMPPI.update_samples
    • ParallelMPPI.generate_rollouts
    • ParallelMPPI._call_cuda_opt_iters
    • ParallelMPPI._initialize_cuda_graph
    • ParallelMPPI._optimize
    • ParallelMPPI._run_opt_iters
    • ParallelMPPI._shift
    • ParallelMPPI._update_problem_kernel
    • ParallelMPPI.check_convergence
    • ParallelMPPI.create_data_dict
    • ParallelMPPI.get_all_rollout_instances
    • ParallelMPPI.get_nproblem_tensor
    • ParallelMPPI.optimize
    • ParallelMPPI.reset_cuda_graph
    • ParallelMPPI.reset_shape
    • ParallelMPPI.update_nproblems
    • ParallelMPPI.update_num_particles_per_problem
    • ParallelMPPI.update_params
    • ParallelMPPI.d_action
    • ParallelMPPI.action_lows
    • ParallelMPPI.action_highs
    • ParallelMPPI.action_horizon
    • ParallelMPPI.horizon
    • ParallelMPPI.n_iters
    • ParallelMPPI.cold_start_n_iters
    • ParallelMPPI.rollout_fn
    • ParallelMPPI.tensor_args
    • ParallelMPPI.use_cuda_graph
    • ParallelMPPI.store_debug
    • ParallelMPPI.debug_info
    • ParallelMPPI.n_problems
    • ParallelMPPI.num_particles
    • ParallelMPPI.sync_cuda_time
    • ParallelMPPI.use_coo_sparse
    • ParallelMPPI.init_mean
    • ParallelMPPI.init_cov
    • ParallelMPPI.base_action
    • ParallelMPPI.step_size_mean
    • ParallelMPPI.step_size_cov
    • ParallelMPPI.null_act_frac
    • ParallelMPPI.squash_fn
    • ParallelMPPI.cov_type
    • ParallelMPPI.sample_params
    • ParallelMPPI.update_cov
    • ParallelMPPI.random_mean
    • ParallelMPPI.beta
    • ParallelMPPI.alpha
    • ParallelMPPI.gamma
    • ParallelMPPI.kappa
    • ParallelMPPI.sample_per_problem
    • ParallelMPPI.sample_mode
    • ParallelMPPI.seed
    • ParallelMPPI.calculate_value
    • ParallelMPPI.store_rollouts
• curobo.opt.particle.particle_opt_base module
  • SampleMode
    • SampleMode.MEAN
    • SampleMode.BEST
    • SampleMode.SAMPLE
  • ParticleOptInfo
    • ParticleOptInfo.info
  • ParticleOptConfig
    • ParticleOptConfig.gamma
    • ParticleOptConfig.sample_mode
    • ParticleOptConfig.seed
    • ParticleOptConfig.calculate_value
    • ParticleOptConfig.store_rollouts
    • ParticleOptConfig.create_data_dict
    • ParticleOptConfig.d_action
    • ParticleOptConfig.action_lows
    • ParticleOptConfig.action_highs
    • ParticleOptConfig.action_horizon
    • ParticleOptConfig.horizon
    • ParticleOptConfig.n_iters
    • ParticleOptConfig.cold_start_n_iters
    • ParticleOptConfig.rollout_fn
    • ParticleOptConfig.tensor_args
    • ParticleOptConfig.use_cuda_graph
    • ParticleOptConfig.store_debug
    • ParticleOptConfig.debug_info
    • ParticleOptConfig.n_problems
    • ParticleOptConfig.num_particles
    • ParticleOptConfig.sync_cuda_time
    • ParticleOptConfig.use_coo_sparse
  • ParticleOptBase
    • ParticleOptBase._get_action_seq
    • ParticleOptBase.sample_actions
    • ParticleOptBase.update_seed
    • ParticleOptBase._update_distribution
    • ParticleOptBase.reset
    • ParticleOptBase._calc_val
    • ParticleOptBase.check_convergence
    • ParticleOptBase.generate_rollouts
    • ParticleOptBase._optimize
    • ParticleOptBase._initialize_cuda_graph
    • ParticleOptBase._call_cuda_opt_iters
    • ParticleOptBase._run_opt_iters
    • ParticleOptBase.update_nproblems
    • ParticleOptBase._shift
    • ParticleOptBase._update_problem_kernel
    • ParticleOptBase.create_data_dict
    • ParticleOptBase.get_all_rollout_instances
    • ParticleOptBase.get_nproblem_tensor
    • ParticleOptBase.optimize
    • ParticleOptBase.reset_cuda_graph
    • ParticleOptBase.reset_seed
    • ParticleOptBase.reset_shape
    • ParticleOptBase.update_num_particles_per_problem
    • ParticleOptBase.update_params
    • ParticleOptBase.d_action
    • ParticleOptBase.action_lows
    • ParticleOptBase.action_highs
    • ParticleOptBase.action_horizon
    • ParticleOptBase.horizon
    • ParticleOptBase.n_iters
    • ParticleOptBase.cold_start_n_iters
    • ParticleOptBase.rollout_fn
    • ParticleOptBase.tensor_args
    • ParticleOptBase.use_cuda_graph
    • ParticleOptBase.store_debug
    • ParticleOptBase.debug_info
    • ParticleOptBase.n_problems
    • ParticleOptBase.num_particles
    • ParticleOptBase.sync_cuda_time
    • ParticleOptBase.use_coo_sparse
    • ParticleOptBase.gamma
    • ParticleOptBase.sample_mode
    • ParticleOptBase.seed
    • ParticleOptBase.calculate_value
    • ParticleOptBase.store_rollouts
• curobo.opt.particle.particle_opt_utils module
  • SquashType
    • SquashType.CLAMP
    • SquashType.CLAMP_RESCALE
    • SquashType.TANH
    • SquashType.IDENTITY
  • scale_ctrl
  • get_stomp_cov
  • gaussian_logprob
  • gaussian_logprobgrad
  • gaussian_entropy
  • gaussian_kl
  • cost_to_go
  • cost_to_go_np
  • matrix_cholesky
  • batch_cholesky