def METHOD_NAME(self, observations: ObservationType) -> torch.FloatTensor:
    target_encoding = self.get_target_coordinates_encoding(observations)
    obs_embeds: Union[torch.Tensor, List[torch.Tensor]]
    obs_embeds = [target_encoding]
    if not self.is_blind:
        perception_embed = self.visual_encoder(observations)
        if self.sensor_fusion:
            perception_embed = self.sensor_fuser(perception_embed)
        obs_embeds = [perception_embed] + obs_embeds
    obs_embeds = torch.cat(obs_embeds, dim=-1)
    return obs_embeds