Projector

[niktheod]

I was trying to identify the projector component in Pi0 (the module that projects visual features from the vision encoder to the input space of the LLM). Just wanted to ask to make sure:

Is the projector applied in the following lines? (scr/openpi/models/siglip.py, lines 284-288):

if self.num_classes:
            kw = {"kernel_init": nn.initializers.zeros} if self.head_zeroinit else {}
            head = nn.Dense(self.num_classes, dtype=self.dtype_mm, name="head", **kw)
            x_2d = out["logits_2d"] = head(x_2d)
            x = out["logits"] = head(x)

that is, the main output of the vision encoder is already passed through the projector?