Robot State Encoder.

state_encoder.py

# Encoding robot state using a simple Multi-Layer Perceptron
class StateEncoderMLP(nn.Module):
    def __init__(self, state_dim, d_model=128):
        super().__init__()
        self.net = nn.Sequential(
            nn.Linear(state_dim, 64),
            nn.ReLU(),
            nn.Linear(64, d_model),
        )
        self.ln = nn.LayerNorm(d_model)

    def forward(self, s):
        x = self.net(s)
        x = self.ln(x)
        return x