why is this repo using classifier free guidance?

lucidrains / robotic-transformer-pytorch

Implementation of RT1 (Robotic Transformer) in Pytorch

MIT License

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why is this repo using classifier free guidance? #7

Open zhaonat opened 3 months ago

zhaonat commented 3 months ago

RT-1 isn't a generative model so I'm not sure how guidance can even be used in this context. RT-1 isn't conditioned like a generative model to sample an output similar to the condition?