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Batch indexing into multidimensional tensors/arrays is kind of tricky, I made this project explaining the builtin syntax and also made wrappers for simplifying the interface, with additional features for underlying coordinate grid data (like signed distance functions) that need to be indexed by coordinate value rather than integer indices directly https://github.com/LemonPi/multidim_indexing
There were some bugs still with advanced indexing in an older release of functorch, I believe they should be fixed now though: https://github.com/pytorch/functorch/pull/862
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