mm_action_prediction/models/decoder.py [121:131]:
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        if self.params["use_action_output"]:
            action_out = encoder_output["action_output_all"].unsqueeze(1)
            time_steps = encoder_output["hidden_states_all"].shape[1]
            fusion_out = torch.cat(
                [
                    encoder_output["hidden_states_all"],
                    action_out.expand(-1, time_steps, -1),
                ],
                dim=-1,
            )
            encoder_output["hidden_states_all"] = self.action_fusion_net(fusion_out)
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mm_action_prediction/models/decoder.py [230:240]:
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        if self.params["use_action_output"]:
            action_out = encoder_output["action_output_all"].unsqueeze(1)
            time_steps = encoder_output["hidden_states_all"].shape[1]
            fusion_out = torch.cat(
                [
                    encoder_output["hidden_states_all"],
                    action_out.expand(-1, time_steps, -1),
                ],
                dim=-1,
            )
            encoder_output["hidden_states_all"] = self.action_fusion_net(fusion_out)
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