Method __call__

model/action_tokenizer.py:37–44

Discretize continuous actions to tokens. action: np.ndarray, (n, 7), continuous actions in Cartesian or Spherical coordinates. return: np.ndarray, (n, 7), tokens.

(self, action: np.ndarray)

        self.token_end_idx = self.tokenizer.convert_tokens_to_ids(self.token_array[-1])

    def __call__(self, action: np.ndarray) -> List[str]:
        """Discretize continuous actions to tokens.
        action: np.ndarray, (n, 7), continuous actions in Cartesian or Spherical coordinates.
        return: np.ndarray, (n, 7), tokens.
        """
        action = np.clip(action, a_min=float(self.min_action), a_max=float(self.max_action))
        ids = np.digitize(action, self.bin_centers, right=True)  # [0, 255]
        return self.token_array[ids]

    def decode_token_ids_to_actions(self, action_token_id: np.ndarray) -> np.ndarray:
        """decode token ids to continuous actions.