def __init__()

in lerobot/common/policies/vqbet/vqbet_utils.py [0:0]

• 35 lines of code
• 4 McCabe index (conditional complexity)

    def __init__(
        self,
        dim,
        codebook_size,
        codebook_dim=None,
        heads=1,
        separate_codebook_per_head=False,
        decay=0.8,
        eps=1e-5,
        kmeans_init=False,
        kmeans_iters=10,
        sync_kmeans=True,
        threshold_ema_dead_code=0,
        channel_last=True,
        accept_image_fmap=False,
        commitment_weight=1.0,
        commitment_use_cross_entropy_loss=False,
        orthogonal_reg_weight=0.0,
        orthogonal_reg_active_codes_only=False,
        orthogonal_reg_max_codes=None,
        stochastic_sample_codes=False,
        sample_codebook_temp=1.0,
        straight_through=False,
        reinmax=False,  # using reinmax for improved straight-through, assuming straight through helps at all
        sync_codebook=None,
        sync_affine_param=False,
        ema_update=True,
        learnable_codebook=False,
        in_place_codebook_optimizer: Callable[
            ..., Optimizer
        ] = None,  # Optimizer used to update the codebook embedding if using learnable_codebook
        affine_param=False,
        affine_param_batch_decay=0.99,
        affine_param_codebook_decay=0.9,
        sync_update_v=0.0,  # the v that controls optimistic vs pessimistic update for synchronous update rule (21) https://minyoungg.github.io/vqtorch/assets/draft_050523.pdf