def register(cs: ConfigStore) -> None:
"""Store this domain's config nodes.
Args:
cs: The global Hydra config store.
"""
cs.store(group="policy", name="base", node=PolicyConfig)
cs.store(group="policy/adaptation/lora", name="base", node=LoRAAdaptationConfig)
cs.store(group="policy/algorithm", name="base", node=DecodingAlgorithmConfig)
cs.store(group="policy/algorithm", name="bc", node=BehavioralCloningConfig)
cs.store(group="policy/algorithm", name="diffusion_process", node=DiffusionConfig)
cs.store(group="policy/algorithm", name="flow", node=FlowMatchingConfig)
cs.store(
group="policy/algorithm", name="variational", node=VariationalAlgorithmConfig
)
cs.store(
group="policy/algorithm/posterior",
name="base",
node=PosteriorLatentEncoderConfig,
)
cs.store(group="policy/algorithm/prior", name="base", node=PriorLatentEncoderConfig)
cs.store(
group="policy/algorithm/posterior",
name="transformerencoder",
node=VAETransformerEncoderConfig,
)
cs.store(group="policy/algorithm/prior", name="gaussian", node=GaussianPriorConfig)
cs.store(
group="policy/algorithm/prior",
name="transformerencoder",
node=PriorTransformerEncoderConfig,
)
cs.store(group="policy/algorithm/prior", name="vamp", node=VampPriorConfig)
cs.store(
group="policy/algorithm/posterior",
name="vq_encoder",
node=VQPosteriorEncoderConfig,
)
cs.store(
group="policy/algorithm/prior",
name="uniform_codebook",
node=UniformCodebookPriorConfig,
)
cs.store(
group="policy/algorithm/prior",
name="codebook",
node=CodebookPriorConfig,
)
cs.store(
group="policy/algorithm/prior",
name="dit",
node=DiTPriorConfig,
)
cs.store(group="policy/loss", name="composite", node=CompositeLossConfig)
cs.store(group="policy/loss", name="regression", node=RegressionLossConfig)
cs.store(group="policy/loss", name="base", node=BaseLossConfig)
cs.store(group="policy/loss", name="gripper", node=GripperLossConfig)
cs.store(group="policy/loss", name="entropy", node=GaussianEntropyLossConfig)
cs.store(group="policy/loss", name="kl", node=KLDivergenceLossConfig)
cs.store(group="policy/loss", name="vic_latent", node=VICLatentLossConfig)
cs.store(
group="policy/loss",
name="posterior_geometry",
node=PosteriorGeometryLossConfig,
)
cs.store(group="policy/loss", name="vq_commitment", node=VQCommitmentLossConfig)
cs.store(
group="policy/loss",
name="vq_prior_ce",
node=VQPriorCrossEntropyLossConfig,
)
cs.store(group="policy/loss", name="mmd", node=MaximumMeanDiscrepancyLossConfig)
cs.store(
group="policy/loss",
name="conditional_mmd",
node=ConditionalMaximumMeanDiscrepancyLossConfig,
)
cs.store(
group="policy/loss",
name="binary_mmd",
node=BinaryMaximumMeanDiscrepancyLossConfig,
)
cs.store(group="policy/loss", name="binary_kl", node=BinaryKLDivergenceLossConfig)
cs.store(group="policy/loss", name="traj_len", node=TrajectoryLengthLossConfig)
cs.store(group="policy/loss", name="traj_smooth", node=TrajectorySmoothnessConfig)
cs.store(
group="policy/loss",
name="phase_classification",
node=PhaseClassificationLossConfig,
)
cs.store(group="policy/loss", name="token_loss", node=ActionTokenLossConfig)
cs.store(group="policy/loss", name="moe_loss", node=MoELossConfig)
cs.store(
group="policy/loss",
name="gripper_mixture_nll",
node=GripperMixtureNLLossConfig,
)
cs.store(
group="policy/loss",
name="denoising_prior",
node=PriorDenoisingLossConfig,
)
cs.store(
group="policy/loss",
name="gaussian_mixture_nll",
node=GaussianMixtureNLLossConfig,
)
cs.store(
group="policy/loss",
name="optimal_transport",
node=OptimalTransportLossConfig,
)
cs.store(
group="policy/loss",
name="latent_optimal_transport",
node=LatentOptimalTransportLossConfig,
)
cs.store(
group="policy/loss",
name="relaxed_conditional_latent_ot",
node=RelaxedConditionalLatentOptimalTransportLossConfig,
)
cs.store(
group="policy/encoding_pipeline",
name="base",
node=EncodingPipelineConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder", name="image", node=ImageEncoderConfig
)
cs.store(
group="policy/encoding_pipeline/encoder/image",
name="spatial",
node=SpatialRGBEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder/image",
name="conditional_cnn",
node=ConditionalCNNEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder/image",
name="flat",
node=FlatRGBEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder/image",
name="dinov2_siglip",
node=DinoV2SigLIPRGBEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder/vlm",
name="vlm_encoder",
node=VLMEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder",
name="depth_spatial",
node=SpatialDepthEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder",
name="dformer",
node=DFormerEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder",
name="geometric_rgbd",
node=GeometricRGBDEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder",
name="proprio",
node=ProprioEncoderConfig,
)
cs.store(
group="policy/encoding_pipeline/encoder",
name="language",
node=LanguageEncoderConfig,
)
cs.store(group="policy/encoding_pipeline/fusion", name="base", node=FusionConfig)
cs.store(
group="policy/encoding_pipeline/fusion", name="concat", node=ConcatFusionConfig
)
cs.store(
group="policy/encoding_pipeline/fusion",
name="attention",
node=AttentionFusionConfig,
)
cs.store(group="policy/encoding_pipeline/fusion", name="mlp", node=MLPFusionConfig)
cs.store(group="policy/decoder", name="base", node=DecodingNetworkConfig)
cs.store(group="policy/decoder", name="act", node=ACTConfig)
cs.store(group="policy/decoder", name="phase_act", node=PhaseACTConfig)
cs.store(
group="policy/decoder",
name="simple_action_transformer",
node=ActionTransformerConfig,
)
cs.store(group="policy/decoder", name="gpt", node=GPTActionTransformerConfig)
cs.store(
group="policy/decoder",
name="autoregressive_vla_config",
node=AutoregressiveVLAConfig,
)
cs.store(
group="policy/decoder",
name="openvla_oft_config",
node=OpenVLAOFTConfig,
)
cs.store(group="policy/decoder", name="moe", node=MixtureOfExpertsDecoderConfig)
cs.store(group="policy/decoder", name="lact_decoder", node=LACTConfig)
cs.store(
group="policy/decoder", name="dit_block", node=DiTBlockActionTransformerConfig
)
cs.store(
group="policy/decoder",
name="diffusion_act",
node=DiffusionActionTransformerConfig,
)
cs.store(group="policy/decoder", name="unet", node=ConditionalActionUNetConfig)
cs.store(group="policy/decoder", name="smolvla", node=SmolVLADecoderConfig)
cs.store(group="policy/decoder", name="pi0", node=Pi0DecoderConfig)
cs.store(group="policy/decoder/action_head", name="base", node=ActionHeadConfig)
cs.store(
group="policy/decoder/action_head",
name="conditional",
node=ConditionalActionHeadConfig,
)
cs.store(
group="policy/decoder/action_head", name="gaussian", node=GaussianHeadConfig
)
cs.store(
group="policy/decoder/action_head", name="moe", node=MixtureOfExpertsHeadConfig
)
cs.store(
group="policy/decoder",
name="mode_act",
node=MixtureOfDensitiesActionTransformerConfig,
)
cs.store(group="policy/decoder/head_block", name="base", node=ActionHeadBlockConfig)
cs.store(group="policy/decoder/head_block", name="mlp", node=MLPBlockConfig)
cs.store(
group="policy/decoder/head_block", name="attention", node=AttentionBlockConfig
)
cs.store(
group="policy/decoder/head_block", name="residual", node=ResidualBlockConfig
)
cs.store(group="policy/decoder/head_block", name="adanorm", node=AdaNormBlockConfig)