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minor: change location of comments

This commit is contained in:
jayLEE0301 2024-06-08 16:38:02 -04:00
parent 0b48268689
commit 670c08a2e4
1 changed files with 3 additions and 3 deletions
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6
lerobot/common/policies/vqbet/modeling_vqbet.py
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@ -315,11 +315,11 @@ class VQBeTModel(nn.Module):
# get action features (pass through GPT)
features = self.policy(input_tokens)
# len(self.config.input_shapes) is the number of different observation modes. this line gets the index of action prompt tokens.
# Behavior Transformer (BeT), and VQ-BeT are both sequence-to-sequence prediction models, mapping sequential observation to sequential action (please refer to section 2.2 in BeT paper https://arxiv.org/pdf/2206.11251).
# Thus, it predict historical action sequence, in addition to current and future actions (predicting future actions : optional).
historical_act_pred_index = np.arange(0, n_obs_steps) * (len(self.config.input_shapes)+1) + len(self.config.input_shapes)
# only extract the output tokens at the position of action query
# only extract the output tokens at the position of action query:
# Behavior Transformer (BeT), and VQ-BeT are both sequence-to-sequence prediction models, mapping sequential observation to sequential action (please refer to section 2.2 in BeT paper https://arxiv.org/pdf/2206.11251).
# Thus, it predict historical action sequence, in addition to current and future actions (predicting future actions : optional).
features = torch.cat([
features[:, historical_act_pred_index],
features[:, -len_additional_action_token:]