nit comments

lerobot/common/policies/diffusion/modeling_diffusion.py

@@ -294,7 +294,7 @@ class SpatialSoftmax(nn.Module):
     Spatial Soft Argmax operation described in "Deep Spatial Autoencoders for Visuomotor Learning" by Finn et al.
     (https://arxiv.org/pdf/1509.06113). A minimal port of the robomimic implementation.
 
-    At a high level, this takes 2D feature maps (from a convnet/ViT/etc.) and returns the "center of mass"
+    At a high level, this takes 2D feature maps (from a convnet/ViT) and returns the "center of mass"
     of activations of each channel, i.e., spatial keypoints for the policy to focus on.
 
     Example: take feature maps of size (512x10x12). We generate a grid of normalized coordinates (10x12x2):
@@ -332,13 +332,12 @@ class SpatialSoftmax(nn.Module):
             self._out_c = self._in_c
 
         self.temperature = nn.Parameter(torch.tensor(temperature), requires_grad=learnable_temperature)
-
         # we could use torch.linspace directly but that seems to behave slightly differently than numpy
-        # and cause a small degradation in pc_success of pre-trained models.
+        # and causes a small degradation in pc_success of pre-trained models.
         pos_x, pos_y = np.meshgrid(np.linspace(-1.0, 1.0, self._in_w), np.linspace(-1.0, 1.0, self._in_h))
         pos_x = torch.from_numpy(pos_x.reshape(self._in_h * self._in_w, 1)).float()
         pos_y = torch.from_numpy(pos_y.reshape(self._in_h * self._in_w, 1)).float()
-        # register as buffer so it's moved to the correct device, etc.
+        # register as buffer so it's moved to the correct device.
         self.register_buffer("pos_grid", torch.cat([pos_x, pos_y], dim=1))
 
     def forward(self, features: Tensor) -> Tensor: