Language

unilab.tasks.motion_tracking.common.tensor_sampler.MotionSampler¶

class unilab.tasks.motion_tracking.common.tensor_sampler.MotionSampler[source]¶

Bases: object

Torch-native adaptive/mixed motion sampler for MotionCommand.

Parameters:

mode (str)
num_envs (int)
num_frames (int)
clip_offsets (Tensor)
clip_end_frames (Tensor)
bin_count (int)
adaptive_lambda (float)
adaptive_kernel_size (int)
adaptive_uniform_ratio (float)
adaptive_alpha (float)
start_ratio (float)
initial_frames (Tensor)
initial_clip_end_frames (Tensor)
device (device)

Methods

`__init__`(*, mode, num_envs, num_frames, ...)
`sample_frames`(reset_mask, torch_rng)	Sample full-width frames and publish only selected rows.
`step_full`(active, time_steps)	Advance and publish full-width frame mirrors without row gathers.
`update_failure_stats`(terminated)

Attributes

bin_failed_count

__init__(*, mode, num_envs, num_frames, clip_offsets, clip_end_frames, bin_count, adaptive_lambda, adaptive_kernel_size, adaptive_uniform_ratio, adaptive_alpha, start_ratio, initial_frames, initial_clip_end_frames, device)[source]¶

Parameters:

mode (str)
num_envs (int)
num_frames (int)
clip_offsets (Tensor)
clip_end_frames (Tensor)
bin_count (int)
adaptive_lambda (float)
adaptive_kernel_size (int)
adaptive_uniform_ratio (float)
adaptive_alpha (float)
start_ratio (float)
initial_frames (Tensor)
initial_clip_end_frames (Tensor)
device (device)

property bin_failed_count: Tensor¶

sample_frames(reset_mask, torch_rng)[source]¶

Sample full-width frames and publish only selected rows.

Parameters:

reset_mask (Tensor)
torch_rng (Generator | None)

Return type:

Tensor

update_failure_stats(terminated)[source]¶

Parameters:: terminated (Tensor)
Return type:: None

step_full(active, time_steps)[source]¶

Advance and publish full-width frame mirrors without row gathers.

Parameters:

active (Tensor)
time_steps (Tensor)

Return type:

Tensor