From 1d33db0ef0a9681e4c92aedf90375a2606cf1eab Mon Sep 17 00:00:00 2001
From: gouhanke <12219217+gouhanke@user.noreply.gitee.com>
Date: Fri, 27 Feb 2026 18:23:30 +0800
Subject: [PATCH] =?UTF-8?q?chore:=20=E7=BC=A9=E5=B0=8F=E7=89=A9=E5=9D=97?=
=?UTF-8?q?=E7=9A=84=E5=A4=A7=E5=B0=8F?=
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---
roboimi/assets/models/manipulators/DianaMed/box.xml | 2 +-
roboimi/vla/conf/agent/resnet_diffusion.yaml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
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 @@
-
+
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