1 CounterfactualPoseGenerator

pose_generation.counterfactuals.CounterfactualPoseGenerator(config)

Expand a multi-step counterfactual pose tree from the current generator.

The generator returns in-memory trajectories only. Callers such as RolloutDatasetWriter provide source samples and oracle evaluators, then decide which rollout records and diagnostics are retained in standalone replay stores.

1.1 Methods

Name	Description
generate_from_typed_sample	Generate rollout trajectories directly from one typed snippet.
generate	Generate multi-step counterfactual rollouts from one root pose.

1.1.1 generate_from_typed_sample

pose_generation.counterfactuals.CounterfactualPoseGenerator.generate_from_typed_sample(
    sample,
    *,
    reference_pose=None,
    score_candidates=None,
    candidate_runtime_context=None,
)

Generate rollout trajectories directly from one typed snippet.

1.1.2 generate

pose_generation.counterfactuals.CounterfactualPoseGenerator.generate(
    reference_pose,
    gt_mesh,
    mesh_verts,
    mesh_faces,
    camera_calib_template,
    occupancy_extent,
    score_candidates=None,
    candidate_runtime_context=None,
    root_time_ns=None,
    root_trajectory_index=None,
    root_frame_index=None,
)

Generate multi-step counterfactual rollouts from one root pose.