def _smooth_l1_loss(x, t, in_weight, sigma):
sigma2 = sigma ** 2
diff = in_weight * (x - t)
abs_diff = F.absolute(diff)
flag = (abs_diff.array < (1. / sigma2)).astype(np.float32)
y = (flag * (sigma2 / 2.) * F.square(diff) +
(1 - flag) * (abs_diff - 0.5 / sigma2))
return F.sum(y)
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