diff --git a/roboimi/assets/models/manipulators/DianaMed/box.xml b/roboimi/assets/models/manipulators/DianaMed/box.xml
index f351cc3..c016926 100644
--- a/roboimi/assets/models/manipulators/DianaMed/box.xml
+++ b/roboimi/assets/models/manipulators/DianaMed/box.xml
@@ -3,7 +3,7 @@
       <body name="box" pos="0.2 1.0 0.47">
             <joint name="red_box_joint" type="free" frictionloss="0.01" />
             <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
-            <geom contype="1" conaffinity="1"  condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
+            <geom contype="1" conaffinity="1"  condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.018 0.018 0.02" type="box" name="red_box" rgba="1 0 0 1" />
         </body>
   </worldbody>
 </mujoco>
diff --git a/roboimi/vla/conf/agent/resnet_diffusion.yaml b/roboimi/vla/conf/agent/resnet_diffusion.yaml
index bdca96d..3574f96 100644
--- a/roboimi/vla/conf/agent/resnet_diffusion.yaml
+++ b/roboimi/vla/conf/agent/resnet_diffusion.yaml
@@ -25,7 +25,7 @@ normalization_type: "min_max" # "min_max" or "gaussian"
 # ====================
 pred_horizon: 16           # 预测未来多少步动作
 obs_horizon: 2              # 使用多少步历史观测
-num_action_steps: 16         # 每次推理实际执行多少步动作（应 <= pred_horizon - obs_horizon + 1）
+num_action_steps: 8         # 每次推理实际执行多少步动作（应 <= pred_horizon - obs_horizon + 1）
 
 # ====================
 # 相机配置
