data/gr00t/rl/agents/modules/encoder_modules.py

# Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0


from __future__ import annotations

import torch.nn as nn

from .modules import BaseModule


class Estimator(nn.Module):
    def __init__(self, obs_dim_dict, module_config_dict):
        super(Estimator, self).__init__()
        self.module = BaseModule(obs_dim_dict, module_config_dict)

    # def estimate(self, obs_history):
    #     return self.module(obs_history)

    def forward(self, obs_history):
        return self.module(obs_history)


class Encoder(nn.Module):
    def __init__(self, obs_dim_dict, module_config_dict, module_dim_dict={}):
        super(Encoder, self).__init__()

        self.module = BaseModule(obs_dim_dict, module_config_dict, module_dim_dict)

    def forward(self, encoder_obs):
        return self.module(encoder_obs)