From 3deeffb9fefb274d338bc2930ccf33a596a01ef9 Mon Sep 17 00:00:00 2001 From: gouhanke <12219217+gouhanke@user.noreply.gitee.com> Date: Thu, 26 Feb 2026 13:56:03 +0800 Subject: [PATCH] =?UTF-8?q?chore:=E6=94=B9=E5=8F=98=E4=BA=86=E4=B8=80?= =?UTF-8?q?=E4=BA=9B=E5=8F=82=E6=95=B0=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- roboimi/utils/act_ex_utils.py | 4 ++-- roboimi/vla/conf/agent/resnet_diffusion.yaml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) 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