diff --git a/roboimi/utils/act_ex_utils.py b/roboimi/utils/act_ex_utils.py
index d08f203..2682f5f 100644
--- a/roboimi/utils/act_ex_utils.py
+++ b/roboimi/utils/act_ex_utils.py
@@ -27,8 +27,8 @@ def sample_insertion_pose():
 
 def sample_transfer_pose():
         # Box
-        x_range = [-0.05, 0.05]
-        y_range = [0.90, 1.05]
+        x_range = [-0.2, 0.2]
+        y_range = [0.7, 1.1]
         z_range = [0.47, 0.47]
 
         ranges = np.vstack([x_range, y_range, z_range])
diff --git a/roboimi/vla/conf/agent/resnet_diffusion.yaml b/roboimi/vla/conf/agent/resnet_diffusion.yaml
index 13c18a0..bdca96d 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: 8           # 预测未来多少步动作
+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: 4         # 每次推理实际执行多少步动作（应 <= pred_horizon - obs_horizon + 1）
+num_action_steps: 16         # 每次推理实际执行多少步动作（应 <= pred_horizon - obs_horizon + 1）
 
 # ====================
 # 相机配置