How to get the attention heatmap in Fig. A-3?

[B0B8K1ng]

Hi authors
Thank you for your great work!

How did you obtain the attention heatmap in Fig. A-3, and what is the principle?

[BJHYZJ]

+1

[retsuh-bqw]

We simply take the normalized attention heatmap between latent action tokens (as queries) and image patch tokens in the last layer of LAM decoder.

[B0B8K1ng]

Could you please provide the code to get the heatmap, thanks!

[YuxuanJIANG123]

+1