curobo.rollout.cost.pose_cost module

class PoseErrorType(value)

Bases: Enum

An enumeration.

SINGLE_GOAL = 0

Distance will be computed to a single goal pose

BATCH_GOAL = 1

Distance will be computed pairwise between query batch and goal batch

GOALSET = 2

Shortest Distance will be computed to a goal set

BATCH_GOALSET = 3

Shortest Distance to a batch goal set

class PoseCostConfig(weight: Union[torch.Tensor, float, List[float]], tensor_args: curobo.types.base.TensorDeviceType = None, distance_threshold: float = 0.0, classify: bool = False, terminal: bool = False, run_weight: Optional[float] = None, dof: int = 7, vec_weight: Union[torch.Tensor, List[float], float, NoneType] = None, max_value: Optional[float] = None, hinge_value: Optional[float] = None, vec_convergence: Optional[List[float]] = None, threshold_value: Optional[float] = None, return_loss: bool = False, cost_type: 'PoseErrorType' = <PoseErrorType.BATCH_GOAL: 1>, use_metric: 'bool' = False, project_distance: 'bool' = True, run_vec_weight: 'Optional[List[float]]' = None, use_projected_distance: 'bool' = True, offset_waypoint: 'List[float]' = None, offset_tstep_fraction: 'float' = -1.0, waypoint_horizon: 'int' = 0)

Bases: CostConfig

cost_type: PoseErrorType = 1
use_metric: bool = False
project_distance: bool = True
run_vec_weight: List[float] | None = None
use_projected_distance: bool = True
offset_waypoint: List[float] = None
offset_tstep_fraction: float = -1.0
waypoint_horizon: int = 0
classify: bool = False
distance_threshold: float = 0.0
dof: int = 7
hinge_value: float | None = None
max_value: float | None = None
return_loss: bool = False
run_weight: float | None = None
tensor_args: TensorDeviceType = None
terminal: bool = False
threshold_value: float | None = None
update_vec_weight(
vec_weight,
)
vec_convergence: List[float] | None = None
vec_weight: torch.Tensor | List[float] | float | None = None
weight: torch.Tensor | float | List[float]
class PoseCostMetric(
hold_partial_pose: 'bool' = False,
release_partial_pose: 'bool' = False,
hold_vec_weight: 'Optional[torch.Tensor]' = None,
reach_partial_pose: 'bool' = False,
reach_full_pose: 'bool' = False,
reach_vec_weight: 'Optional[torch.Tensor]' = None,
offset_position: 'Optional[torch.Tensor]' = None,
offset_rotation: 'Optional[torch.Tensor]' = None,
offset_tstep_fraction: 'float' = -1.0,
remove_offset_waypoint: 'bool' = False,
include_link_pose: 'bool' = False,
project_to_goal_frame: 'Optional[bool]' = None,
)

Bases: object

hold_partial_pose: bool = False
release_partial_pose: bool = False
hold_vec_weight: Tensor | None = None
reach_partial_pose: bool = False
reach_full_pose: bool = False
reach_vec_weight: Tensor | None = None
offset_position: Tensor | None = None
offset_rotation: Tensor | None = None
offset_tstep_fraction: float = -1.0
remove_offset_waypoint: bool = False
project_to_goal_frame: bool | None = None
clone()
classmethod create_grasp_approach_metric(
offset_position: float = 0.1,
linear_axis: int = 2,
tstep_fraction: float = 0.8,
project_to_goal_frame: bool | None = None,
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
) → PoseCostMetric

Enables moving to a pregrasp and then locked orientation movement to final grasp.

Since this is added as a cost, the trajectory will not reach the exact offset, instead it will try to take a blended path to the final grasp without stopping at the offset.

Parameters:

  • offset_position – offset in meters.

  • linear_axis – specifies the x y or z axis.

  • tstep_fraction – specifies the timestep fraction to start activating this constraint.

  • project_to_goal_frame – compute distance w.r.t. to goal frame instead of robot base frame. If None, it will use value set in PoseCostConfig.

  • tensor_args – cuda device.

Returns:

cost metric.

classmethod reset_metric() → PoseCostMetric
class PoseCost(
config: PoseCostConfig,
)

Bases: CostBase, PoseCostConfig

Initialize class

Parameters:

  • config (Optional[CostConfig], optional) – To initialize this class directly, pass a config.

  • class (If this is a base)

  • CostConfig. (it's assumed that you will initialize the child class with)

  • None. (Defaults to)

update_metric(
metric: PoseCostMetric,
update_offset_waypoint: bool = True,
)
hold_partial_pose(
run_vec_weight: Tensor,
)
release_partial_pose()
reach_partial_pose(
vec_weight: Tensor,
)
reach_full_pose()
update_offset_waypoint(
offset_position: Tensor | None = None,
offset_rotation: Tensor | None = None,
offset_tstep_fraction: float = 0.75,
)
remove_offset_waypoint()
update_run_weight(
run_tstep_fraction: float = 0.0,
run_weight: float | None = None,
horizon: int | None = None,
)
update_batch_size(
batch_size,
horizon,
)
initialize_run_weight_vec(
horizon: int | None = None,
)
property goalset_index_buffer
_forward_goal_distribution(
ee_pos_batch,
ee_rot_batch,
ee_goal_pos,
ee_goal_rot,
)
_forward_single_goal(
ee_pos_batch,
ee_rot_batch,
ee_goal_pos,
ee_goal_rot,
)
_forward_pytorch(
ee_pos_batch,
ee_rot_batch,
ee_goal_pos,
ee_goal_rot,
)
_update_cost_type(
ee_goal_pos,
ee_pos_batch,
num_goals,
)
forward_out_distance(
ee_pos_batch,
ee_rot_batch,
goal: Goal,
link_name: str | None = None,
)
forward(
ee_pos_batch,
ee_rot_batch,
goal: Goal,
link_name: str | None = None,
)

Define the computation performed at every call.

Should be overridden by all subclasses.

Note

Although the recipe for forward pass needs to be defined within this function, one should call the Module instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.

forward_pose(
goal_pose: Pose,
query_pose: Pose,
batch_pose_idx: Tensor,
mode: PoseErrorType = PoseErrorType.BATCH_GOAL,
)
T_destination = ~T_destination
_apply(fn, recurse=True)
_call_impl(*args, **kwargs)
_compiled_call_impl: Callable | None = None
_get_backward_hooks()

Return the backward hooks for use in the call function.

It returns two lists, one with the full backward hooks and one with the non-full backward hooks.

_get_backward_pre_hooks()
_get_name()
_init_post_config()
_load_from_state_dict(
state_dict,
prefix,
local_metadata,
strict,
missing_keys,
unexpected_keys,
error_msgs,
)

Copy parameters and buffers from state_dict into only this module, but not its descendants.

This is called on every submodule in load_state_dict. Metadata saved for this module in input state_dict is provided as local_metadata. For state dicts without metadata, local_metadata is empty. Subclasses can achieve class-specific backward compatible loading using the version number at local_metadata.get(“version”, None). Additionally, local_metadata can also contain the key assign_to_params_buffers that indicates whether keys should be assigned their corresponding tensor in the state_dict.

Note

state_dict is not the same object as the input state_dict to load_state_dict. So it can be modified.

Parameters:

  • state_dict (dict) – a dict containing parameters and persistent buffers.

  • prefix (str) – the prefix for parameters and buffers used in this module

  • local_metadata (dict) – a dict containing the metadata for this module. See

  • strict (bool) – whether to strictly enforce that the keys in state_dict with prefix match the names of parameters and buffers in this module

  • missing_keys (list of str) – if strict=True, add missing keys to this list

  • unexpected_keys (list of str) – if strict=True, add unexpected keys to this list

  • error_msgs (list of str) – error messages should be added to this list, and will be reported together in load_state_dict

_maybe_warn_non_full_backward_hook(
inputs,
result,
grad_fn,
)
_named_members(
get_members_fn,
prefix='',
recurse=True,
remove_duplicate: bool = True,
)

Help yield various names + members of modules.

_register_load_state_dict_pre_hook(
hook,
with_module=False,
)

See register_load_state_dict_pre_hook for details.

A subtle difference is that if with_module is set to False, then the hook will not take the module as the first argument whereas register_load_state_dict_pre_hook always takes the module as the first argument.

Parameters:

  • hook (Callable) – Callable hook that will be invoked before loading the state dict.

  • with_module (bool, optional) – Whether or not to pass the module instance to the hook as the first parameter.

_register_state_dict_hook(hook)

Register a post-hook for the state_dict method.

It should have the following signature::

hook(module, state_dict, prefix, local_metadata) -> None or state_dict

The registered hooks can modify the state_dict inplace or return a new one. If a new state_dict is returned, it will only be respected if it is the root module that state_dict is called from.

_replicate_for_data_parallel()
_save_to_state_dict(
destination,
prefix,
keep_vars,
)

Save module state to the destination dictionary.

The destination dictionary will contain the state of the module, but not its descendants. This is called on every submodule in state_dict.

In rare cases, subclasses can achieve class-specific behavior by overriding this method with custom logic.

Parameters:

  • destination (dict) – a dict where state will be stored

  • prefix (str) – the prefix for parameters and buffers used in this module

_slow_forward(*input, **kwargs)
_version: int = 1

This allows better BC support for load_state_dict. In state_dict, the version number will be saved as in the attribute _metadata of the returned state dict, and thus pickled. _metadata is a dictionary with keys that follow the naming convention of state dict. See _load_from_state_dict on how to use this information in loading.

If new parameters/buffers are added/removed from a module, this number shall be bumped, and the module’s _load_from_state_dict method can compare the version number and do appropriate changes if the state dict is from before the change.

_wrapped_call_impl(
*args,
**kwargs,
)
add_module(
name: str,
module: Module | None,
) → None

Add a child module to the current module.

The module can be accessed as an attribute using the given name.

Parameters:

  • name (str) – name of the child module. The child module can be accessed from this module using the given name

  • module (Module) – child module to be added to the module.

apply(
fn: Callable[[Module], None],
) → T

Apply fn recursively to every submodule (as returned by .children()) as well as self.

Typical use includes initializing the parameters of a model (see also torch.nn.init).

Parameters:

fn (Module -> None) – function to be applied to each submodule

Returns:

self

Return type:

Module

Example:

>>> @torch.no_grad()
>>> def init_weights(m):
>>>     print(m)
>>>     if type(m) == nn.Linear:
>>>         m.weight.fill_(1.0)
>>>         print(m.weight)
>>> net = nn.Sequential(nn.Linear(2, 2), nn.Linear(2, 2))
>>> net.apply(init_weights)
Linear(in_features=2, out_features=2, bias=True)
Parameter containing:
tensor([[1., 1.],
        [1., 1.]], requires_grad=True)
Linear(in_features=2, out_features=2, bias=True)
Parameter containing:
tensor([[1., 1.],
        [1., 1.]], requires_grad=True)
Sequential(
  (0): Linear(in_features=2, out_features=2, bias=True)
  (1): Linear(in_features=2, out_features=2, bias=True)
)
bfloat16() → T

Casts all floating point parameters and buffers to bfloat16 datatype.

Note

This method modifies the module in-place.

Returns:

self

Return type:

Module

buffers(
recurse: bool = True,
) → Iterator[Tensor]

Return an iterator over module buffers.

Parameters:

recurse (bool) – if True, then yields buffers of this module and all submodules. Otherwise, yields only buffers that are direct members of this module.

Yields:

torch.Tensor – module buffer

Example:

>>> # xdoctest: +SKIP("undefined vars")
>>> for buf in model.buffers():
>>>     print(type(buf), buf.size())
<class 'torch.Tensor'> (20L,)
<class 'torch.Tensor'> (20L, 1L, 5L, 5L)
call_super_init: bool = False
children() → Iterator[Module]

Return an iterator over immediate children modules.

Yields:

Module – a child module

classify: bool = False
compile(*args, **kwargs)

Compile this Module’s forward using torch.compile.

This Module’s __call__ method is compiled and all arguments are passed as-is to torch.compile.

See torch.compile for details on the arguments for this function.

cost_type: PoseErrorType = 1
cpu() → T

Move all model parameters and buffers to the CPU.

Note

This method modifies the module in-place.

Returns:

self

Return type:

Module

cuda(
device: int | device | None = None,
) → T

Move all model parameters and buffers to the GPU.

This also makes associated parameters and buffers different objects. So it should be called before constructing optimizer if the module will live on GPU while being optimized.

Note

This method modifies the module in-place.

Parameters:

device (int, optional) – if specified, all parameters will be copied to that device

Returns:

self

Return type:

Module

disable_cost()
distance_threshold: float = 0.0
dof: int = 7
double() → T

Casts all floating point parameters and buffers to double datatype.

Note

This method modifies the module in-place.

Returns:

self

Return type:

Module

dump_patches: bool = False
enable_cost()
property enabled
eval() → T

Set the module in evaluation mode.

This has any effect only on certain modules. See documentations of particular modules for details of their behaviors in training/evaluation mode, if they are affected, e.g. Dropout, BatchNorm, etc.

This is equivalent with self.train(False).

See Locally disabling gradient computation for a comparison between .eval() and several similar mechanisms that may be confused with it.

Returns:

self

Return type:

Module

extra_repr() → str

Set the extra representation of the module.

To print customized extra information, you should re-implement this method in your own modules. Both single-line and multi-line strings are acceptable.

float() → T

Casts all floating point parameters and buffers to float datatype.

Note

This method modifies the module in-place.

Returns:

self

Return type:

Module

get_buffer(
target: str,
) → Tensor

Return the buffer given by target if it exists, otherwise throw an error.

See the docstring for get_submodule for a more detailed explanation of this method’s functionality as well as how to correctly specify target.

Parameters:

target – The fully-qualified string name of the buffer to look for. (See get_submodule for how to specify a fully-qualified string.)

Returns:

The buffer referenced by target

Return type:

torch.Tensor

Raises:

AttributeError – If the target string references an invalid path or resolves to something that is not a buffer

get_extra_state() → Any

Return any extra state to include in the module’s state_dict.

Implement this and a corresponding set_extra_state for your module if you need to store extra state. This function is called when building the module’s state_dict().

Note that extra state should be picklable to ensure working serialization of the state_dict. We only provide provide backwards compatibility guarantees for serializing Tensors; other objects may break backwards compatibility if their serialized pickled form changes.

Returns:

Any extra state to store in the module’s state_dict

Return type:

object

get_parameter(
target: str,
) → Parameter

Return the parameter given by target if it exists, otherwise throw an error.

See the docstring for get_submodule for a more detailed explanation of this method’s functionality as well as how to correctly specify target.

Parameters:

target – The fully-qualified string name of the Parameter to look for. (See get_submodule for how to specify a fully-qualified string.)

Returns:

The Parameter referenced by target

Return type:

torch.nn.Parameter

Raises:

AttributeError – If the target string references an invalid path or resolves to something that is not an nn.Parameter

get_submodule(
target: str,
) → Module

Return the submodule given by target if it exists, otherwise throw an error.

For example, let’s say you have an nn.Module A that looks like this:

A(
    (net_b): Module(
        (net_c): Module(
            (conv): Conv2d(16, 33, kernel_size=(3, 3), stride=(2, 2))
        )
        (linear): Linear(in_features=100, out_features=200, bias=True)
    )
)

(The diagram shows an nn.Module A. A has a nested submodule net_b, which itself has two submodules net_c and linear. net_c then has a submodule conv.)

To check whether or not we have the linear submodule, we would call get_submodule("net_b.linear"). To check whether we have the conv submodule, we would call get_submodule("net_b.net_c.conv").

The runtime of get_submodule is bounded by the degree of module nesting in target. A query against named_modules achieves the same result, but it is O(N) in the number of transitive modules. So, for a simple check to see if some submodule exists, get_submodule should always be used.

Parameters:

target – The fully-qualified string name of the submodule to look for. (See above example for how to specify a fully-qualified string.)

Returns:

The submodule referenced by target

Return type:

torch.nn.Module

Raises:

AttributeError – If the target string references an invalid path or resolves to something that is not an nn.Module

half() → T

Casts all floating point parameters and buffers to half datatype.

Note

This method modifies the module in-place.

Returns:

self

Return type:

Module

hinge_value: float | None = None
ipu(
device: int | device | None = None,
) → T

Move all model parameters and buffers to the IPU.

This also makes associated parameters and buffers different objects. So it should be called before constructing optimizer if the module will live on IPU while being optimized.

Note

This method modifies the module in-place.

Parameters:

device (int, optional) – if specified, all parameters will be copied to that device

Returns:

self

Return type:

Module

load_state_dict(
state_dict: Mapping[str, Any],
strict: bool = True,
assign: bool = False,
)

Copy parameters and buffers from state_dict into this module and its descendants.

If strict is True, then the keys of state_dict must exactly match the keys returned by this module’s state_dict function.

Warning

If assign is True the optimizer must be created after the call to load_state_dict unless get_swap_module_params_on_conversion is True.

Parameters:

  • state_dict (dict) – a dict containing parameters and persistent buffers.

  • strict (bool, optional) – whether to strictly enforce that the keys in state_dict match the keys returned by this module’s state_dict function. Default: True

  • assign (bool, optional) – When False, the properties of the tensors in the current module are preserved while when True, the properties of the Tensors in the state dict are preserved. The only exception is the requires_grad field of Default: ``False`

Returns:

  • missing_keys is a list of str containing any keys that are expected

    by this module but missing from the provided state_dict.

  • unexpected_keys is a list of str containing the keys that are not

    expected by this module but present in the provided state_dict.

Return type:

NamedTuple with missing_keys and unexpected_keys fields

Note

If a parameter or buffer is registered as None and its corresponding key exists in state_dict, load_state_dict will raise a RuntimeError.

max_value: float | None = None
modules() → Iterator[Module]

Return an iterator over all modules in the network.

Yields:

Module – a module in the network

Note

Duplicate modules are returned only once. In the following example, l will be returned only once.

Example:

>>> l = nn.Linear(2, 2)
>>> net = nn.Sequential(l, l)
>>> for idx, m in enumerate(net.modules()):
...     print(idx, '->', m)

0 -> Sequential(
  (0): Linear(in_features=2, out_features=2, bias=True)
  (1): Linear(in_features=2, out_features=2, bias=True)
)
1 -> Linear(in_features=2, out_features=2, bias=True)
mtia(
device: int | device | None = None,
) → T

Move all model parameters and buffers to the MTIA.

This also makes associated parameters and buffers different objects. So it should be called before constructing optimizer if the module will live on MTIA while being optimized.

Note

This method modifies the module in-place.

Parameters:

device (int, optional) – if specified, all parameters will be copied to that device

Returns:

self

Return type:

Module

named_buffers(
prefix: str = '',
recurse: bool = True,
remove_duplicate: bool = True,
) → Iterator[Tuple[str, Tensor]]

Return an iterator over module buffers, yielding both the name of the buffer as well as the buffer itself.

Parameters:

  • prefix (str) – prefix to prepend to all buffer names.

  • recurse (bool, optional) – if True, then yields buffers of this module and all submodules. Otherwise, yields only buffers that are direct members of this module. Defaults to True.

  • remove_duplicate (bool, optional) – whether to remove the duplicated buffers in the result. Defaults to True.

Yields:

(str, torch.Tensor) – Tuple containing the name and buffer

Example:

>>> # xdoctest: +SKIP("undefined vars")
>>> for name, buf in self.named_buffers():
>>>     if name in ['running_var']:
>>>         print(buf.size())
named_children() → Iterator[Tuple[str, Module]]

Return an iterator over immediate children modules, yielding both the name of the module as well as the module itself.

Yields:

(str, Module) – Tuple containing a name and child module

Example:

>>> # xdoctest: +SKIP("undefined vars")
>>> for name, module in model.named_children():
>>>     if name in ['conv4', 'conv5']:
>>>         print(module)
named_modules(
memo: Set[Module] | None = None,
prefix: str = '',
remove_duplicate: bool = True,
)

Return an iterator over all modules in the network, yielding both the name of the module as well as the module itself.

Parameters:

  • memo – a memo to store the set of modules already added to the result

  • prefix – a prefix that will be added to the name of the module

  • remove_duplicate – whether to remove the duplicated module instances in the result or not

Yields:

(str, Module) – Tuple of name and module

Note

Duplicate modules are returned only once. In the following example, l will be returned only once.

Example:

>>> l = nn.Linear(2, 2)
>>> net = nn.Sequential(l, l)
>>> for idx, m in enumerate(net.named_modules()):
...     print(idx, '->', m)

0 -> ('', Sequential(
  (0): Linear(in_features=2, out_features=2, bias=True)
  (1): Linear(in_features=2, out_features=2, bias=True)
))
1 -> ('0', Linear(in_features=2, out_features=2, bias=True))
named_parameters(
prefix: str = '',
recurse: bool = True,
remove_duplicate: bool = True,
) → Iterator[Tuple[str, Parameter]]

Return an iterator over module parameters, yielding both the name of the parameter as well as the parameter itself.

Parameters:

  • prefix (str) – prefix to prepend to all parameter names.

  • recurse (bool) – if True, then yields parameters of this module and all submodules. Otherwise, yields only parameters that are direct members of this module.

  • remove_duplicate (bool, optional) – whether to remove the duplicated parameters in the result. Defaults to True.

Yields:

(str, Parameter) – Tuple containing the name and parameter

Example:

>>> # xdoctest: +SKIP("undefined vars")
>>> for name, param in self.named_parameters():
>>>     if name in ['bias']:
>>>         print(param.size())
offset_tstep_fraction: float = -1.0
offset_waypoint: List[float] = None
parameters(
recurse: bool = True,
) → Iterator[Parameter]

Return an iterator over module parameters.

This is typically passed to an optimizer.

Parameters:

recurse (bool) – if True, then yields parameters of this module and all submodules. Otherwise, yields only parameters that are direct members of this module.

Yields:

Parameter – module parameter

Example:

>>> # xdoctest: +SKIP("undefined vars")
>>> for param in model.parameters():
>>>     print(type(param), param.size())
<class 'torch.Tensor'> (20L,)
<class 'torch.Tensor'> (20L, 1L, 5L, 5L)
project_distance: bool = True
register_backward_hook(
hook: Callable[[Module, Tuple[Tensor, ...] | Tensor, Tuple[Tensor, ...] | Tensor], None | Tuple[Tensor, ...] | Tensor],
) → RemovableHandle

Register a backward hook on the module.

This function is deprecated in favor of register_full_backward_hook and the behavior of this function will change in future versions.

Returns:

a handle that can be used to remove the added hook by calling handle.remove()

Return type:

torch.utils.hooks.RemovableHandle

register_buffer(
name: str,
tensor: Tensor | None,
persistent: bool = True,
) → None

Add a buffer to the module.

This is typically used to register a buffer that should not to be considered a model parameter. For example, BatchNorm’s running_mean is not a parameter, but is part of the module’s state. Buffers, by default, are persistent and will be saved alongside parameters. This behavior can be changed by setting persistent to False. The only difference between a persistent buffer and a non-persistent buffer is that the latter will not be a part of this module’s state_dict.

Buffers can be accessed as attributes using given names.

Parameters:

  • name (str) – name of the buffer. The buffer can be accessed from this module using the given name

  • tensor (Tensor or None) – buffer to be registered. If None, then operations that run on buffers, such as cuda, are ignored. If None, the buffer is not included in the module’s state_dict.

  • persistent (bool) – whether the buffer is part of this module’s state_dict.

Example:

>>> # xdoctest: +SKIP("undefined vars")
>>> self.register_buffer('running_mean', torch.zeros(num_features))
register_forward_hook(
hook: Callable[[T, Tuple[Any, ...], Any], Any | None] | Callable[[T, Tuple[Any, ...], Dict[str, Any], Any], Any | None],
*,
prepend: bool = False,
with_kwargs: bool = False,
always_call: bool = False,
) → RemovableHandle

Register a forward hook on the module.

The hook will be called every time after forward has computed an output.

If with_kwargs is False or not specified, the input contains only the positional arguments given to the module. Keyword arguments won’t be passed to the hooks and only to the forward. The hook can modify the output. It can modify the input inplace but it will not have effect on forward since this is called after forward is called. The hook should have the following signature:

hook(module, args, output) -> None or modified output

If with_kwargs is True, the forward hook will be passed the kwargs given to the forward function and be expected to return the output possibly modified. The hook should have the following signature:

hook(module, args, kwargs, output) -> None or modified output
Parameters:

  • hook (Callable) – The user defined hook to be registered.

  • prepend (bool) – If True, the provided hook will be fired before all existing forward hooks on this torch.nn.modules.Module. Otherwise, the provided hook will be fired after all existing forward hooks on this torch.nn.modules.Module. Note that global forward hooks registered with register_module_forward_hook will fire before all hooks registered by this method. Default: False

  • with_kwargs (bool) – If True, the hook will be passed the kwargs given to the forward function. Default: False

  • always_call (bool) – If True the hook will be run regardless of whether an exception is raised while calling the Module. Default: False

Returns:

a handle that can be used to remove the added hook by calling handle.remove()

Return type:

torch.utils.hooks.RemovableHandle

register_forward_pre_hook(
hook: Callable[[T, Tuple[Any, ...]], Any | None] | Callable[[T, Tuple[Any, ...], Dict[str, Any]], Tuple[Any, Dict[str, Any]] | None],
*,
prepend: bool = False,
with_kwargs: bool = False,
) → RemovableHandle

Register a forward pre-hook on the module.

The hook will be called every time before forward is invoked.

If with_kwargs is false or not specified, the input contains only the positional arguments given to the module. Keyword arguments won’t be passed to the hooks and only to the forward. The hook can modify the input. User can either return a tuple or a single modified value in the hook. We will wrap the value into a tuple if a single value is returned (unless that value is already a tuple). The hook should have the following signature:

hook(module, args) -> None or modified input

If with_kwargs is true, the forward pre-hook will be passed the kwargs given to the forward function. And if the hook modifies the input, both the args and kwargs should be returned. The hook should have the following signature:

hook(module, args, kwargs) -> None or a tuple of modified input and kwargs
Parameters:

  • hook (Callable) – The user defined hook to be registered.

  • prepend (bool) – If true, the provided hook will be fired before all existing forward_pre hooks on this torch.nn.modules.Module. Otherwise, the provided hook will be fired after all existing forward_pre hooks on this torch.nn.modules.Module. Note that global forward_pre hooks registered with register_module_forward_pre_hook will fire before all hooks registered by this method. Default: False

  • with_kwargs (bool) – If true, the hook will be passed the kwargs given to the forward function. Default: False

Returns:

a handle that can be used to remove the added hook by calling handle.remove()

Return type:

torch.utils.hooks.RemovableHandle

register_full_backward_hook(
hook: Callable[[Module, Tuple[Tensor, ...] | Tensor, Tuple[Tensor, ...] | Tensor], None | Tuple[Tensor, ...] | Tensor],
prepend: bool = False,
) → RemovableHandle

Register a backward hook on the module.

The hook will be called every time the gradients with respect to a module are computed, i.e. the hook will execute if and only if the gradients with respect to module outputs are computed. The hook should have the following signature:

hook(module, grad_input, grad_output) -> tuple(Tensor) or None

The grad_input and grad_output are tuples that contain the gradients with respect to the inputs and outputs respectively. The hook should not modify its arguments, but it can optionally return a new gradient with respect to the input that will be used in place of grad_input in subsequent computations. grad_input will only correspond to the inputs given as positional arguments and all kwarg arguments are ignored. Entries in grad_input and grad_output will be None for all non-Tensor arguments.

For technical reasons, when this hook is applied to a Module, its forward function will receive a view of each Tensor passed to the Module. Similarly the caller will receive a view of each Tensor returned by the Module’s forward function.

Warning

Modifying inputs or outputs inplace is not allowed when using backward hooks and will raise an error.

Parameters:

  • hook (Callable) – The user-defined hook to be registered.

  • prepend (bool) – If true, the provided hook will be fired before all existing backward hooks on this torch.nn.modules.Module. Otherwise, the provided hook will be fired after all existing backward hooks on this torch.nn.modules.Module. Note that global backward hooks registered with register_module_full_backward_hook will fire before all hooks registered by this method.

Returns:

a handle that can be used to remove the added hook by calling handle.remove()

Return type:

torch.utils.hooks.RemovableHandle

register_full_backward_pre_hook(
hook: Callable[[Module, Tuple[Tensor, ...] | Tensor], None | Tuple[Tensor, ...] | Tensor],
prepend: bool = False,
) → RemovableHandle

Register a backward pre-hook on the module.

The hook will be called every time the gradients for the module are computed. The hook should have the following signature:

hook(module, grad_output) -> tuple[Tensor] or None

The grad_output is a tuple. The hook should not modify its arguments, but it can optionally return a new gradient with respect to the output that will be used in place of grad_output in subsequent computations. Entries in grad_output will be None for all non-Tensor arguments.

For technical reasons, when this hook is applied to a Module, its forward function will receive a view of each Tensor passed to the Module. Similarly the caller will receive a view of each Tensor returned by the Module’s forward function.

Warning

Modifying inputs inplace is not allowed when using backward hooks and will raise an error.

Parameters:

  • hook (Callable) – The user-defined hook to be registered.

  • prepend (bool) – If true, the provided hook will be fired before all existing backward_pre hooks on this torch.nn.modules.Module. Otherwise, the provided hook will be fired after all existing backward_pre hooks on this torch.nn.modules.Module. Note that global backward_pre hooks registered with register_module_full_backward_pre_hook will fire before all hooks registered by this method.

Returns:

a handle that can be used to remove the added hook by calling handle.remove()

Return type:

torch.utils.hooks.RemovableHandle

register_load_state_dict_post_hook(
hook,
)

Register a post-hook to be run after module’s load_state_dict is called.

It should have the following signature::

hook(module, incompatible_keys) -> None

The module argument is the current module that this hook is registered on, and the incompatible_keys argument is a NamedTuple consisting of attributes missing_keys and unexpected_keys. missing_keys is a list of str containing the missing keys and unexpected_keys is a list of str containing the unexpected keys.

The given incompatible_keys can be modified inplace if needed.

Note that the checks performed when calling load_state_dict with strict=True are affected by modifications the hook makes to missing_keys or unexpected_keys, as expected. Additions to either set of keys will result in an error being thrown when strict=True, and clearing out both missing and unexpected keys will avoid an error.

Returns:

a handle that can be used to remove the added hook by calling handle.remove()

Return type:

torch.utils.hooks.RemovableHandle

register_load_state_dict_pre_hook(
hook,
)

Register a pre-hook to be run before module’s load_state_dict is called.

It should have the following signature::

hook(module, state_dict, prefix, local_metadata, strict, missing_keys, unexpected_keys, error_msgs) -> None # noqa: B950

Parameters:

hook (Callable) – Callable hook that will be invoked before loading the state dict.

register_module(
name: str,
module: Module | None,
) → None

Alias for add_module.

register_parameter(
name: str,
param: Parameter | None,
) → None

Add a parameter to the module.

The parameter can be accessed as an attribute using given name.

Parameters:

  • name (str) – name of the parameter. The parameter can be accessed from this module using the given name

  • param (Parameter or None) – parameter to be added to the module. If None, then operations that run on parameters, such as cuda, are ignored. If None, the parameter is not included in the module’s state_dict.

register_state_dict_post_hook(
hook,
)

Register a post-hook for the state_dict method.

It should have the following signature::

hook(module, state_dict, prefix, local_metadata) -> None

The registered hooks can modify the state_dict inplace.

register_state_dict_pre_hook(
hook,
)

Register a pre-hook for the state_dict method.

It should have the following signature::

hook(module, prefix, keep_vars) -> None

The registered hooks can be used to perform pre-processing before the state_dict call is made.

requires_grad_(
requires_grad: bool = True,
) → T

Change if autograd should record operations on parameters in this module.

This method sets the parameters’ requires_grad attributes in-place.

This method is helpful for freezing part of the module for finetuning or training parts of a model individually (e.g., GAN training).

See Locally disabling gradient computation for a comparison between .requires_grad_() and several similar mechanisms that may be confused with it.

Parameters:

requires_grad (bool) – whether autograd should record operations on parameters in this module. Default: True.

Returns:

self

Return type:

Module

return_loss: bool = False
run_vec_weight: List[float] | None = None
run_weight: float | None = None
set_extra_state(
state: Any,
) → None

Set extra state contained in the loaded state_dict.

This function is called from load_state_dict to handle any extra state found within the state_dict. Implement this function and a corresponding get_extra_state for your module if you need to store extra state within its state_dict.

Parameters:

state (dict) – Extra state from the state_dict

set_submodule(
target: str,
module: Module,
) → None

Set the submodule given by target if it exists, otherwise throw an error.

For example, let’s say you have an nn.Module A that looks like this:

A(
    (net_b): Module(
        (net_c): Module(
            (conv): Conv2d(16, 33, kernel_size=(3, 3), stride=(2, 2))
        )
        (linear): Linear(in_features=100, out_features=200, bias=True)
    )
)

(The diagram shows an nn.Module A. A has a nested submodule net_b, which itself has two submodules net_c and linear. net_c then has a submodule conv.)

To overide the Conv2d with a new submodule Linear, you would call set_submodule("net_b.net_c.conv", nn.Linear(33, 16)).

Parameters:

  • target – The fully-qualified string name of the submodule to look for. (See above example for how to specify a fully-qualified string.)

  • module – The module to set the submodule to.

Raises:

  • ValueError – If the target string is empty

  • AttributeError – If the target string references an invalid path or resolves to something that is not an nn.Module

share_memory() → T

See torch.Tensor.share_memory_.

state_dict(
*args,
destination=None,
prefix='',
keep_vars=False,
)

Return a dictionary containing references to the whole state of the module.

Both parameters and persistent buffers (e.g. running averages) are included. Keys are corresponding parameter and buffer names. Parameters and buffers set to None are not included.

Note

The returned object is a shallow copy. It contains references to the module’s parameters and buffers.

Warning

Currently state_dict() also accepts positional arguments for destination, prefix and keep_vars in order. However, this is being deprecated and keyword arguments will be enforced in future releases.

Warning

Please avoid the use of argument destination as it is not designed for end-users.

Parameters:

  • destination (dict, optional) – If provided, the state of module will be updated into the dict and the same object is returned. Otherwise, an OrderedDict will be created and returned. Default: None.

  • prefix (str, optional) – a prefix added to parameter and buffer names to compose the keys in state_dict. Default: ''.

  • keep_vars (bool, optional) – by default the Tensor s returned in the state dict are detached from autograd. If it’s set to True, detaching will not be performed. Default: False.

Returns:

a dictionary containing a whole state of the module

Return type:

dict

Example:

>>> # xdoctest: +SKIP("undefined vars")
>>> module.state_dict().keys()
['bias', 'weight']
tensor_args: TensorDeviceType = None
terminal: bool = False
threshold_value: float | None = None
to(*args, **kwargs)

Move and/or cast the parameters and buffers.

This can be called as

to(
device=None,
dtype=None,
non_blocking=False,
)
to(dtype, non_blocking=False)
to(tensor, non_blocking=False)
to(memory_format=torch.channels_last)

Its signature is similar to torch.Tensor.to, but only accepts floating point or complex dtypes. In addition, this method will only cast the floating point or complex parameters and buffers to dtype (if given). The integral parameters and buffers will be moved device, if that is given, but with dtypes unchanged. When non_blocking is set, it tries to convert/move asynchronously with respect to the host if possible, e.g., moving CPU Tensors with pinned memory to CUDA devices.

See below for examples.

Note

This method modifies the module in-place.

Parameters:

  • device (torch.device) – the desired device of the parameters and buffers in this module

  • dtype (torch.dtype) – the desired floating point or complex dtype of the parameters and buffers in this module

  • tensor (torch.Tensor) – Tensor whose dtype and device are the desired dtype and device for all parameters and buffers in this module

  • memory_format (torch.memory_format) – the desired memory format for 4D parameters and buffers in this module (keyword only argument)

Returns:

self

Return type:

Module

Examples:

>>> # xdoctest: +IGNORE_WANT("non-deterministic")
>>> linear = nn.Linear(2, 2)
>>> linear.weight
Parameter containing:
tensor([[ 0.1913, -0.3420],
        [-0.5113, -0.2325]])
>>> linear.to(torch.double)
Linear(in_features=2, out_features=2, bias=True)
>>> linear.weight
Parameter containing:
tensor([[ 0.1913, -0.3420],
        [-0.5113, -0.2325]], dtype=torch.float64)
>>> # xdoctest: +REQUIRES(env:TORCH_DOCTEST_CUDA1)
>>> gpu1 = torch.device("cuda:1")
>>> linear.to(gpu1, dtype=torch.half, non_blocking=True)
Linear(in_features=2, out_features=2, bias=True)
>>> linear.weight
Parameter containing:
tensor([[ 0.1914, -0.3420],
        [-0.5112, -0.2324]], dtype=torch.float16, device='cuda:1')
>>> cpu = torch.device("cpu")
>>> linear.to(cpu)
Linear(in_features=2, out_features=2, bias=True)
>>> linear.weight
Parameter containing:
tensor([[ 0.1914, -0.3420],
        [-0.5112, -0.2324]], dtype=torch.float16)

>>> linear = nn.Linear(2, 2, bias=None).to(torch.cdouble)
>>> linear.weight
Parameter containing:
tensor([[ 0.3741+0.j,  0.2382+0.j],
        [ 0.5593+0.j, -0.4443+0.j]], dtype=torch.complex128)
>>> linear(torch.ones(3, 2, dtype=torch.cdouble))
tensor([[0.6122+0.j, 0.1150+0.j],
        [0.6122+0.j, 0.1150+0.j],
        [0.6122+0.j, 0.1150+0.j]], dtype=torch.complex128)
to_empty(
*,
device: int | str | device | None,
recurse: bool = True,
) → T

Move the parameters and buffers to the specified device without copying storage.

Parameters:

  • device (torch.device) – The desired device of the parameters and buffers in this module.

  • recurse (bool) – Whether parameters and buffers of submodules should be recursively moved to the specified device.

Returns:

self

Return type:

Module

train(
mode: bool = True,
) → T

Set the module in training mode.

This has any effect only on certain modules. See documentations of particular modules for details of their behaviors in training/evaluation mode, if they are affected, e.g. Dropout, BatchNorm, etc.

Parameters:

mode (bool) – whether to set training mode (True) or evaluation mode (False). Default: True.

Returns:

self

Return type:

Module

type(
dst_type: dtype | str,
) → T

Casts all parameters and buffers to dst_type.

Note

This method modifies the module in-place.

Parameters:

dst_type (type or string) – the desired type

Returns:

self

Return type:

Module

update_dt(
dt: float | Tensor,
)
update_vec_weight(vec_weight)
update_weight(weight: float)
use_metric: bool = False
use_projected_distance: bool = True
vec_convergence: List[float] | None = None
vec_weight: torch.Tensor | List[float] | float | None = None
waypoint_horizon: int = 0
xpu(
device: int | device | None = None,
) → T

Move all model parameters and buffers to the XPU.

This also makes associated parameters and buffers different objects. So it should be called before constructing optimizer if the module will live on XPU while being optimized.

Note

This method modifies the module in-place.

Parameters:

device (int, optional) – if specified, all parameters will be copied to that device

Returns:

self

Return type:

Module

zero_grad(
set_to_none: bool = True,
) → None

Reset gradients of all model parameters.

See similar function under torch.optim.Optimizer for more context.

Parameters:

set_to_none (bool) – instead of setting to zero, set the grads to None. See torch.optim.Optimizer.zero_grad for details.

training: bool
_parameters: Dict[str, Parameter | None]
_buffers: Dict[str, Tensor | None]
_non_persistent_buffers_set: Set[str]
_backward_pre_hooks: Dict[int, Callable]
_backward_hooks: Dict[int, Callable]
_is_full_backward_hook: bool | None
_forward_hooks: Dict[int, Callable]
_forward_hooks_with_kwargs: Dict[int, bool]
_forward_hooks_always_called: Dict[int, bool]
_forward_pre_hooks: Dict[int, Callable]
_forward_pre_hooks_with_kwargs: Dict[int, bool]
_state_dict_hooks: Dict[int, Callable]
_load_state_dict_pre_hooks: Dict[int, Callable]
_state_dict_pre_hooks: Dict[int, Callable]
_load_state_dict_post_hooks: Dict[int, Callable]
_modules: Dict[str, 'Module' | None]
weight: torch.Tensor | float | List[float]