From 0b05c010244ac3bad67612a81f840aab4f3f9cf4 Mon Sep 17 00:00:00 2001
From: gouhanke <12219217+gouhanke@user.noreply.gitee.com>
Date: Thu, 12 Feb 2026 19:54:11 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E6=8E=A8=E7=90=86=E6=97=B6=E8=BE=93?=
 =?UTF-8?q?=E5=87=BAaction?=
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---
 roboimi/demos/vla_scripts/eval_vla.py        | 7 +++++++
 roboimi/vla/conf/agent/resnet_diffusion.yaml | 4 ++--
 roboimi/vla/conf/eval/eval.yaml              | 5 +++++
 3 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/roboimi/demos/vla_scripts/eval_vla.py b/roboimi/demos/vla_scripts/eval_vla.py
index 9c358e4..6b967ed 100644
--- a/roboimi/demos/vla_scripts/eval_vla.py
+++ b/roboimi/demos/vla_scripts/eval_vla.py
@@ -243,6 +243,13 @@ def main(cfg: DictConfig):
                 # 转换为 numpy
                 action = action.cpu().numpy()
 
+                # 调试：打印当前时间步的动作（由配置控制）
+                if eval_cfg.get('verbose_action', False):
+                    print(f"\n[Step {t:3d}] 预测动作: {action}")
+                    print(f"  - 动作形状: {action.shape}")
+                    print(f"  - 动作范围: [{action.min():.4f}, {action.max():.4f}]")
+                    print(f"  - 动作均值: {action.mean():.4f}, 标准差: {action.std():.4f}")
+
                 # 可选：平滑动作
                 if smoother:
                     action = smoother.smooth(action)
diff --git a/roboimi/vla/conf/agent/resnet_diffusion.yaml b/roboimi/vla/conf/agent/resnet_diffusion.yaml
index 3574f96..13c18a0 100644
--- a/roboimi/vla/conf/agent/resnet_diffusion.yaml
+++ b/roboimi/vla/conf/agent/resnet_diffusion.yaml
@@ -23,9 +23,9 @@ normalization_type: "min_max" # "min_max" or "gaussian"
 # ====================
 # 时间步配置
 # ====================
-pred_horizon: 16           # 预测未来多少步动作
+pred_horizon: 8           # 预测未来多少步动作
 obs_horizon: 2              # 使用多少步历史观测
-num_action_steps: 8         # 每次推理实际执行多少步动作（应 <= pred_horizon - obs_horizon + 1）
+num_action_steps: 4         # 每次推理实际执行多少步动作（应 <= pred_horizon - obs_horizon + 1）
 
 # ====================
 # 相机配置
diff --git a/roboimi/vla/conf/eval/eval.yaml b/roboimi/vla/conf/eval/eval.yaml
index 0b6f345..2960937 100644
--- a/roboimi/vla/conf/eval/eval.yaml
+++ b/roboimi/vla/conf/eval/eval.yaml
@@ -26,4 +26,9 @@ use_smoothing: false
 smooth_method: "ema"
 smooth_alpha: 0.3
 
+# ====================
+# 调试选项
+# ====================
+verbose_action: true  # 是否打印每个时间步的动作信息
+