Why are the MLP parameters here so large? - Githubissues

YanjieZe / GNFactor

[CoRL 2023 Oral] GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields

https://yanjieze.com/GNFactor/

MIT License

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Why are the MLP parameters here so large? #7

Open SanMumumu opened 4 months ago

SanMumumu commented 4 months ago

Hi,

The role of MLP as I understand is used to decode the representation of encoder3d, function similar to decoder.

If the mlp parameter is too large, will it affect the learning of encoder3d and the robotic arm?

https://github.com/YanjieZe/GNFactor/blob/bc9cbdda6dcdd88fd762baf6749752b42e03577a/GNFactor/agents/gnfactor_bc/models_embed.py#L359-L378

https://github.com/YanjieZe/GNFactor/blob/bc9cbdda6dcdd88fd762baf6749752b42e03577a/GNFactor/conf/method/GNFACTOR_BC.yaml#L129-L135