# @package eval
# Evaluation Configuration
ckpt_path: "checkpoints/vla_model_best.pt"  # Path to model checkpoint
num_episodes: 3           # Number of evaluation episodes
max_timesteps: 700        # Maximum timesteps per episode
device: ${train.device}   # 与训练保持一致
task_name: "sim_transfer" # Task name for environment creation

# Policy execution — 从 agent 配置中引用，保持一致性
num_queries: ${agent.pred_horizon}  # 每次预测 pred_horizon 步后重新查询
obs_horizon: ${agent.obs_horizon}

# Camera names — 从 data 配置中引用，保持一致性
camera_names: ${data.camera_names}

# Action smoothing
use_smoothing: false
smooth_method: "ema"
smooth_alpha: 0.3


