| """Load the published numeric pilot with the independently installed DVIDIA package. |
| |
| No downloads, dynamic remote code, pickle, or hardware control occur here. |
| """ |
| from pathlib import Path |
|
|
|
|
| def load_visual(root, lane='visual'): |
| if lane not in ('visual', 'native'): |
| raise ValueError('Choose visual or native.') |
| from dvidia_training.footage_train import load_visual_model |
| return load_visual_model(Path(root) / lane / 'training' / 'model.json') |
|
|
|
|
| def predict_next_rgb(root, rgb, lane='visual'): |
| """One 16×16 RGB frame in [0,1] -> one normalized next-frame estimate.""" |
| import numpy as np |
| model, arrays = load_visual(root, lane) |
| size = model['training']['resolution'] |
| frame = np.asarray(rgb, dtype=np.float32) |
| if frame.shape != (size, size, 3) or not np.isfinite(frame).all() or (frame < 0).any() or (frame > 1).any(): |
| raise ValueError('Expected one finite normalized RGB frame at the model resolution.') |
| latent = (frame.reshape(-1) - arrays['mean']) @ arrays['basis'].T |
| following = np.append(latent, 1.) @ arrays['transition'] |
| return np.clip(following @ arrays['basis'] + arrays['mean'], 0., 1.).reshape(size, size, 3) |
|
|
|
|
| def load_movement(root): |
| """Return the validated simulation movement head; no scene is executed.""" |
| import json |
| from dvidia_training.arm_distill import MovementHead |
| path = Path(root) / 'native' / 'movement' / 'movement_head.json' |
| return MovementHead(json.loads(path.read_text())) |
|
|
