def adapt_conditions(self, lang_tokens, img_tokens, state_tokens):
        '''
        lang_tokens: (batch_size, lang_len, lang_token_dim)
        img_tokens: (batch_size, img_len, img_token_dim)
        state_tokens: (batch_size, state_len, state_token_dim)
        
        return: adpated (..., hidden_size) for all input tokens
        '''
        adpated_lang = self.lang_adaptor(lang_tokens)
        adpated_img = self.img_adaptor(img_tokens)
        adpated_state = self.state_adaptor(state_tokens)

        return adpated_lang, adpated_img, adpated_state

        lang_tokens: (batch_size, lang_len, lang_token_dim)
        img_tokens: (batch_size, img_len, img_token_dim)
        state_tokens: (batch_size, state_len, state_token_dim)
        
        return: adpated (..., hidden_size) for all input tokens
        
policy/RDT/models/rdt_runner.py