From cf2897f54513a8d5ca56e38a4fa6ec53c28bb45e Mon Sep 17 00:00:00 2001 From: Jade Choghari Date: Fri, 17 Oct 2025 16:12:01 +0200 Subject: [PATCH] Docs(fix): corrects minor mix-ups encoder/decoder (#2231) --- src/lerobot/policies/act/modeling_act.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/policies/act/modeling_act.py b/src/lerobot/policies/act/modeling_act.py index 4d2890ba6..b7cbcd061 100644 --- a/src/lerobot/policies/act/modeling_act.py +++ b/src/lerobot/policies/act/modeling_act.py @@ -626,8 +626,8 @@ class ACTDecoderLayer(nn.Module): x: (Decoder Sequence, Batch, Channel) tensor of input tokens. encoder_out: (Encoder Sequence, B, C) output features from the last layer of the encoder we are cross-attending with. - decoder_pos_embed: (ES, 1, C) positional embedding for keys (from the encoder). - encoder_pos_embed: (DS, 1, C) Positional_embedding for the queries (from the decoder). + encoder_pos_embed: (ES, 1, C) positional embedding for keys (from the encoder). + decoder_pos_embed: (DS, 1, C) positional embedding for the queries (from the decoder). Returns: (DS, B, C) tensor of decoder output features. """