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fix(act): n_vae_encoder_layers config parameter wasn't being used (#400)

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Jack Vial 2024-09-02 13:29:27 -04:00 committed by GitHub
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commit b2896d38f5
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1 changed files with 5 additions and 3 deletions
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lerobot/common/policies/act/modeling_act.py
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@ -296,7 +296,7 @@ class ACT(nn.Module):
self.use_images = any(k.startswith("observation.image") for k in config.input_shapes) self.use_images = any(k.startswith("observation.image") for k in config.input_shapes)
self.use_env_state = "observation.environment_state" in config.input_shapes self.use_env_state = "observation.environment_state" in config.input_shapes
if self.config.use_vae: if self.config.use_vae:
self.vae_encoder = ACTEncoder(config) self.vae_encoder = ACTEncoder(config, is_vae_encoder=True)
self.vae_encoder_cls_embed = nn.Embedding(1, config.dim_model) self.vae_encoder_cls_embed = nn.Embedding(1, config.dim_model)
# Projection layer for joint-space configuration to hidden dimension. # Projection layer for joint-space configuration to hidden dimension.
if self.use_robot_state: if self.use_robot_state:
@ -521,9 +521,11 @@ class ACT(nn.Module):
class ACTEncoder(nn.Module): class ACTEncoder(nn.Module):
"""Convenience module for running multiple encoder layers, maybe followed by normalization.""" """Convenience module for running multiple encoder layers, maybe followed by normalization."""
def __init__(self, config: ACTConfig): def __init__(self, config: ACTConfig, is_vae_encoder: bool = False):
super().__init__() super().__init__()
self.layers = nn.ModuleList([ACTEncoderLayer(config) for _ in range(config.n_encoder_layers)]) self.is_vae_encoder = is_vae_encoder
num_layers = config.n_vae_encoder_layers if self.is_vae_encoder else config.n_encoder_layers
self.layers = nn.ModuleList([ACTEncoderLayer(config) for _ in range(num_layers)])
self.norm = nn.LayerNorm(config.dim_model) if config.pre_norm else nn.Identity() self.norm = nn.LayerNorm(config.dim_model) if config.pre_norm else nn.Identity()
def forward( def forward(