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* Add SpatialEncoder and SpatialEncoder3d * Optimize the code execution efficiency * Fixed certain problems according to Dongyu's suggestions. * Fix an error about probability of division by zero in PathEcoder; Change certain designs in SpatialEncoder * Fix a typo * polish the docstring * fix doc * lint Co-authored-by: Ubuntu <ubuntu@ip-172-31-14-146.ap-northeast-1.compute.internal> Co-authored-by: rudongyu <ru_dongyu@outlook.com>