def split_outputs(outputs):
    """Split a batch of merged left and right tensors back into individual left and right tensors"""
    batch_size, _, _, _ = outputs.shape
    assert batch_size % 2 == 0
    batch_size = batch_size // 2
    left_outputs = outputs[:batch_size]
    right_outputs = outputs[batch_size:]
    return left_outputs, right_outputs