chore: 删除unet里的local_cond(未使用)

roboimi/vla/models/heads/conditional_unet1d.py

@@ -124,7 +124,6 @@ class ConditionalResidualBlock1D(nn.Module):
 class ConditionalUnet1D(nn.Module):
     def __init__(self,
         input_dim,
-        local_cond_dim=None,
         global_cond_dim=None,
         diffusion_step_embed_dim=256,
         down_dims=[256,512,1024],
@@ -149,23 +148,6 @@ class ConditionalUnet1D(nn.Module):
 
         in_out = list(zip(all_dims[:-1], all_dims[1:]))
 
-        local_cond_encoder = None
-        if local_cond_dim is not None:
-            _, dim_out = in_out[0]
-            dim_in = local_cond_dim
-            local_cond_encoder = nn.ModuleList([
-                # down encoder
-                ConditionalResidualBlock1D(
-                    dim_in, dim_out, cond_dim=cond_dim, 
-                    kernel_size=kernel_size, n_groups=n_groups,
-                    cond_predict_scale=cond_predict_scale),
-                # up encoder
-                ConditionalResidualBlock1D(
-                    dim_in, dim_out, cond_dim=cond_dim, 
-                    kernel_size=kernel_size, n_groups=n_groups,
-                    cond_predict_scale=cond_predict_scale)
-            ])
-
         mid_dim = all_dims[-1]
         self.mid_modules = nn.ModuleList([
             ConditionalResidualBlock1D(
@@ -216,7 +198,6 @@ class ConditionalUnet1D(nn.Module):
         )
 
         self.diffusion_step_encoder = diffusion_step_encoder
-        self.local_cond_encoder = local_cond_encoder
         self.up_modules = up_modules
         self.down_modules = down_modules
         self.final_conv = final_conv
@@ -225,12 +206,11 @@ class ConditionalUnet1D(nn.Module):
     def forward(self,
             sample: torch.Tensor,
             timestep: Union[torch.Tensor, float, int],
-            local_cond=None, global_cond=None,
+            global_cond=None,
             **kwargs):
         """
         x: (B,T,input_dim)
         timestep: (B,) or int, diffusion step
-        local_cond: (B,T,local_cond_dim)
         global_cond: (B,global_cond_dim)
         output: (B,T,input_dim)
         """
@@ -253,22 +233,10 @@ class ConditionalUnet1D(nn.Module):
                 global_feature, global_cond
             ], axis=-1)
 
-        # encode local features
-        h_local = list()
-        if local_cond is not None:
-            local_cond = einops.rearrange(local_cond, 'b h t -> b t h')
-            resnet, resnet2 = self.local_cond_encoder
-            x = resnet(local_cond, global_feature)
-            h_local.append(x)
-            x = resnet2(local_cond, global_feature)
-            h_local.append(x)
-        
         x = sample
         h = []
         for idx, (resnet, resnet2, downsample) in enumerate(self.down_modules):
             x = resnet(x, global_feature)
-            if idx == 0 and len(h_local) > 0:
-                x = x + h_local[0]
             x = resnet2(x, global_feature)
             h.append(x)
             x = downsample(x)
@@ -279,12 +247,6 @@ class ConditionalUnet1D(nn.Module):
         for idx, (resnet, resnet2, upsample) in enumerate(self.up_modules):
             x = torch.cat((x, h.pop()), dim=1)
             x = resnet(x, global_feature)
-            # The correct condition should be:
-            # if idx == (len(self.up_modules)-1) and len(h_local) > 0:
-            # However this change will break compatibility with published checkpoints.
-            # Therefore it is left as a comment.
-            if idx == len(self.up_modules) and len(h_local) > 0:
-                x = x + h_local[1]
             x = resnet2(x, global_feature)
             x = upsample(x)