Question about relational transformer model

[xiexh20]

Dear authors,

Thanks for the great work and releasing the code! I have a few questions regarding the transformer design choices:

1. Why is there a division by 10 in this code? It looks like a normalization factor, but I did not find it in the original relational model implementation. Can you explain how you set this value?
2. In you previous work T3DP, you use a vanilla transformer that compute attention directly, while here you use a more advanced relational model. Is there a specific consideration for this design change? Do you have any experiments that show current design is better?
   Thank you very much for your time!

Best,
Xianghui

[brjathu]

Hi Xianghui,

Thanks for you interest in our work. For the first question, we set this value empirically, to change the pose by only a small amount. For the second question, this was a change due to legacy code and we indeed didn’t observe a performance boost from that change.

Thanks,
Jathushan

[xiexh20]

thanks a lot for your help!