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chore:改变了一些参数配置

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gouhanke
2026-02-26 13:56:03 +08:00
parent 0b05c01024
commit 3deeffb9fe
2 changed files with 4 additions and 4 deletions
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4
roboimi/utils/act_ex_utils.py
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@@ -27,8 +27,8 @@ def sample_insertion_pose():
def sample_transfer_pose(): def sample_transfer_pose():
# Box # Box
x_range = [-0.05, 0.05] x_range = [-0.2, 0.2]
y_range = [0.90, 1.05] y_range = [0.7, 1.1]
z_range = [0.47, 0.47] z_range = [0.47, 0.47]
ranges = np.vstack([x_range, y_range, z_range]) ranges = np.vstack([x_range, y_range, z_range])

4
roboimi/vla/conf/agent/resnet_diffusion.yaml
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@@ -23,9 +23,9 @@ normalization_type: "min_max" # "min_max" or "gaussian"
# ==================== # ====================
# 时间步配置 # 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 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 # 相机配置