1 vin.backbones

vin.backbones

Backbone adapters used by VIN scorer architectures.

The package owns wrappers around large external perception models. Current VIN scorers use the EVL adapter in aria_nbv.vin.backbones.evl to expose actor-visible voxel evidence and feature volumes.

1.1 Classes

Name	Description
EvlBackbone	Run EVL and expose actor-visible feature volumes in their voxel frame.
EvlBackboneConfig	Select the EVL model assets, device, and exported feature families.

1.1.1 EvlBackbone

vin.backbones.EvlBackbone(config)

Run EVL and expose actor-visible feature volumes in their voxel frame.

freeze controls gradients, but inference always executes under torch.no_grad and puts EVL in evaluation mode. The wrapper retains the resolved asset paths on config; returned tensors carry no independent checkpoint or config identity.

1.1.1.1 Methods

Name	Description
forward	Run EVL and return the feature volumes needed by VIN.

1.1.1.1.1 forward

vin.backbones.EvlBackbone.forward(efm)

Run EVL and return the feature volumes needed by VIN.

1.1.1.1.1.1 Parameters

Name	Type	Description	Default
efm	Mapping[str, Any]	Raw EFM snippet dict (unbatched T×... or batched B×T×...).	required

1.1.1.1.1.2 Returns

Name	Type	Description
	EvlBackboneOutput	Actor-visible EvlBackboneOutput whose voxel tensors are
	EvlBackboneOutput	Tensor["B C D H W"]-like fields aligned to
	EvlBackboneOutput	PoseTW["B 12"] world-from-voxel poses. Exact feature semantics
	EvlBackboneOutput	remain local to this config/checkpoint pair.

1.1.2 EvlBackboneConfig

vin.backbones.EvlBackboneConfig()

Select the EVL model assets, device, and exported feature families.

The resolved model_cfg and model_ckpt paths jointly determine the learned evidence semantics for one run. Paths are not immutable provenance: callers that persist outputs must also capture config and checkpoint hashes.

1.1.2.1 Attributes

Name	Description
target_type	Factory target for BaseConfig.setup_target.
paths	Project path resolver.
model_cfg	Resolved Hydra YAML used to instantiate efm3d.model.evl.EVL.
model_ckpt	Resolved checkpoint containing an EVL state_dict payload.
device	Torch device to run EVL on (auto-selects CUDA if available).
freeze	Disable gradients for all EVL parameters when True.
features_mode	Which EVL features to expose.
free_input_mode	Source of free-space input: native EVL output or explicit derivation.

1.2 Functions

Name	Description
filter_backbone_output_for_features_mode	Apply EvlBackboneConfig.features_mode to an EVL output container.

1.2.1 filter_backbone_output_for_features_mode

vin.backbones.filter_backbone_output_for_features_mode(output, *, features_mode)

Apply EvlBackboneConfig.features_mode to an EVL output container.

1.2.1.1 Parameters

Name	Type	Description	Default
output	EvlBackboneOutput	Full EVL output container before feature-family filtering.	required
features_mode	Literal['heads', 'neck', 'both']	Feature family requested by the caller.	required

1.2.1.2 Returns

Name	Type	Description
	EvlBackboneOutput	Filtered output with unsupported feature families set to None or
	EvlBackboneOutput	empty dictionaries.