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typo in VAE encoder's joint projection

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Tony Zhao
2023-06-23 13:30:39 -07:00
parent 28d51cb83f
commit 40e1755296
1 changed files with 1 additions and 1 deletions
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detr/models/detr_vae.py
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@@ -88,7 +88,7 @@ class DETRVAE(nn.Module):
if is_training: if is_training:
# project action sequence to embedding dim, and concat with a CLS token # project action sequence to embedding dim, and concat with a CLS token
action_embed = self.encoder_action_proj(actions) # (bs, seq, hidden_dim) action_embed = self.encoder_action_proj(actions) # (bs, seq, hidden_dim)
qpos_embed = self.encoder_action_proj(qpos) # (bs, hidden_dim) qpos_embed = self.encoder_joint_proj(qpos) # (bs, hidden_dim)
qpos_embed = torch.unsqueeze(qpos_embed, axis=1) # (bs, 1, hidden_dim) qpos_embed = torch.unsqueeze(qpos_embed, axis=1) # (bs, 1, hidden_dim)
cls_embed = self.cls_embed.weight # (1, hidden_dim) cls_embed = self.cls_embed.weight # (1, hidden_dim)
cls_embed = torch.unsqueeze(cls_embed, axis=0).repeat(bs, 1, 1) # (bs, 1, hidden_dim) cls_embed = torch.unsqueeze(cls_embed, axis=0).repeat(bs, 1, 1) # (bs, 1, hidden_dim)