typo in VAE encoder's joint projection

tonyzhaozh · Jun 23, 2023 · dfe6c7f · dfe6c7f
1 parent f74f0db
commit dfe6c7f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/detr/models/detr_vae.py b/detr/models/detr_vae.py
@@ -88,7 +88,7 @@ def forward(self, qpos, image, env_state, actions=None, is_pad=None):
         if is_training:
             # project action sequence to embedding dim, and concat with a CLS token
             action_embed = self.encoder_action_proj(actions) # (bs, seq, hidden_dim)
-            qpos_embed = self.encoder_action_proj(qpos)  # (bs, hidden_dim)
+            qpos_embed = self.encoder_joint_proj(qpos)  # (bs, hidden_dim)
             qpos_embed = torch.unsqueeze(qpos_embed, axis=1)  # (bs, 1, hidden_dim)
             cls_embed = self.cls_embed.weight # (1, hidden_dim)
             cls_embed = torch.unsqueeze(cls_embed, axis=0).repeat(bs, 1, 1) # (bs, 1, hidden_dim)