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Docs(fix): corrects minor mix-ups encoder/decoder (#2231)

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Jade Choghari
2025-10-17 16:12:01 +02:00
committed by GitHub
parent 2c18210d02
commit cf2897f545
1 changed files with 2 additions and 2 deletions
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src/lerobot/policies/act/modeling_act.py
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@@ -626,8 +626,8 @@ class ACTDecoderLayer(nn.Module):
x: (Decoder Sequence, Batch, Channel) tensor of input tokens. 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 encoder_out: (Encoder Sequence, B, C) output features from the last layer of the encoder we are
cross-attending with. cross-attending with.
decoder_pos_embed: (ES, 1, C) positional embedding for keys (from the encoder). encoder_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). decoder_pos_embed: (DS, 1, C) positional embedding for the queries (from the decoder).
Returns: Returns:
(DS, B, C) tensor of decoder output features. (DS, B, C) tensor of decoder output features.
""" """