[Question]: question about the realworld infer,how the pretrained weight load

[kingkids]

Question

I have trained navdp and I use my navdp wight to test whole system,I found that when load the navdp wight the log report like below:
Parameters in pretrained but NOT loaded:

• rgbd_encoder.rgb_model.mask_token (not in model)
• rgbd_encoder.depth_model.mask_token (not in model)
• rgbd_encoder.former_query.position_embedding.weight (not in model)
• rgbd_encoder.former_pe.position_embedding.weight (not in model)
• cond_pos_embed.position_embedding.weight (not in model)
• out_pos_embed.position_embedding.weight (not in model)
• pixel_encoder.pixelgoal_encoder.cls_token (not in model)
• pixel_encoder.pixelgoal_encoder.pos_embed (not in model)
• pixel_encoder.pixelgoal_encoder.mask_token (not in model)
• pixel_encoder.pixelgoal_encoder.patch_embed.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.patch_embed.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.0.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.1.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.2.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.3.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.4.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.5.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.6.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.7.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.8.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.9.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.10.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.norm1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.norm1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.attn.qkv.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.attn.qkv.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.attn.proj.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.attn.proj.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.ls1.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.norm2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.norm2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.mlp.fc1.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.mlp.fc1.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.mlp.fc2.weight (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.mlp.fc2.bias (not in model)
• pixel_encoder.pixelgoal_encoder.blocks.11.ls2.gamma (not in model)
• pixel_encoder.pixelgoal_encoder.norm.weight (not in model)
• pixel_encoder.pixelgoal_encoder.norm.bias (not in model)
• pixel_encoder.project_layer.weight (not in model)
• pixel_encoder.project_layer.bias (not in model)
• image_encoder.imagegoal_encoder.cls_token (not in model)
• image_encoder.imagegoal_encoder.pos_embed (not in model)
• image_encoder.imagegoal_encoder.mask_token (not in model)
• image_encoder.imagegoal_encoder.patch_embed.proj.weight (not in model)
• image_encoder.imagegoal_encoder.patch_embed.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.0.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.0.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.0.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.0.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.0.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.0.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.0.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.0.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.0.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.0.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.0.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.0.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.0.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.0.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.1.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.1.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.1.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.1.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.1.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.1.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.1.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.1.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.1.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.1.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.1.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.1.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.1.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.1.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.2.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.2.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.2.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.2.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.2.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.2.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.2.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.2.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.2.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.2.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.2.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.2.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.2.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.2.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.3.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.3.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.3.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.3.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.3.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.3.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.3.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.3.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.3.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.3.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.3.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.3.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.3.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.3.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.4.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.4.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.4.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.4.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.4.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.4.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.4.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.4.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.4.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.4.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.4.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.4.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.4.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.4.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.5.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.5.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.5.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.5.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.5.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.5.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.5.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.5.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.5.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.5.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.5.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.5.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.5.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.5.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.6.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.6.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.6.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.6.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.6.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.6.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.6.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.6.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.6.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.6.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.6.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.6.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.6.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.6.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.7.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.7.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.7.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.7.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.7.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.7.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.7.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.7.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.7.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.7.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.7.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.7.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.7.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.7.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.8.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.8.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.8.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.8.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.8.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.8.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.8.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.8.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.8.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.8.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.8.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.8.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.8.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.8.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.9.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.9.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.9.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.9.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.9.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.9.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.9.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.9.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.9.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.9.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.9.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.9.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.9.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.9.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.10.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.10.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.10.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.10.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.10.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.10.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.10.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.10.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.10.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.10.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.10.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.10.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.10.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.10.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.11.norm1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.11.norm1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.11.attn.qkv.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.11.attn.qkv.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.11.attn.proj.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.11.attn.proj.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.11.ls1.gamma (not in model)
• image_encoder.imagegoal_encoder.blocks.11.norm2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.11.norm2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.11.mlp.fc1.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.11.mlp.fc1.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.11.mlp.fc2.weight (not in model)
• image_encoder.imagegoal_encoder.blocks.11.mlp.fc2.bias (not in model)
• image_encoder.imagegoal_encoder.blocks.11.ls2.gamma (not in model)
• image_encoder.imagegoal_encoder.norm.weight (not in model)
• image_encoder.imagegoal_encoder.norm.bias (not in model)
• image_encoder.project_layer.weight (not in model)
• image_encoder.project_layer.bias (not in model)
• pixel_aux_head.weight (not in model)
• pixel_aux_head.bias (not in model)
• image_aux_head.weight (not in model)
• image_aux_head.bias (not in model)

Parameters in model but NOT in pretrained:

• cond_pos_embed
• out_pos_embed
• rgbd_encoder.former_query.weight
• rgbd_encoder.former_pe.weight
• vlm_embed_mlp.0.weight
• vlm_embed_mlp.0.bias
• vlm_embed_mlp.2.weight
• vlm_embed_mlp.2.bias
• vlm_embed_mlp.4.weight
• vlm_embed_mlp.4.bias
• goal_compressor.target_embedding.weight
• goal_compressor.positional_encoding.pe
• goal_compressor.token_positional_encoding.position_embedding.weight
• goal_compressor.query_positional_encoding.position_embedding.weight
• goal_compressor.cross_attention.in_proj_weight
• goal_compressor.cross_attention.in_proj_bias
• goal_compressor.cross_attention.out_proj.weight
• goal_compressor.cross_attention.out_proj.bias
• pg_embed_mlp.0.weight
• pg_embed_mlp.0.bias
• pg_embed_mlp.2.weight
• pg_embed_mlp.2.bias
• pg_pred_mlp.0.weight
• pg_pred_mlp.0.bias
• pg_pred_mlp.2.weight
• pg_pred_mlp.2.bias
• pg_pred_mlp.4.weight
• pg_pred_mlp.4.bias

I found that when training use navdp_policy.py and infer use navdp.py,
and the vlm_embed_mlp ,goal_compressor,pg_embed_mlp,pg_pred_mlp not in pretrained,and some layer in pretrain but not in navdp.py, I think it due to the memory_size ,can you explain why you design like that?