diff --git a/roboimi/vla/agent.py b/roboimi/vla/agent.py
index f29901c..ac1371e 100644
--- a/roboimi/vla/agent.py
+++ b/roboimi/vla/agent.py
@@ -17,7 +17,7 @@ class VLAAgent(nn.Module):
         pred_horizon=16,      # 预测未来多少步动作
         obs_horizon=4,        # 使用多少步历史观测
         diffusion_steps=100,
-        num_cams=2,          # 视觉输入的摄像头数量
+        num_cams=3,          # 视觉输入的摄像头数量
     ):
         super().__init__()
         # Store parameters
diff --git a/roboimi/vla/conf/agent/resnet_diffusion.yaml b/roboimi/vla/conf/agent/resnet_diffusion.yaml
index 4851b5f..b1b3d8f 100644
--- a/roboimi/vla/conf/agent/resnet_diffusion.yaml
+++ b/roboimi/vla/conf/agent/resnet_diffusion.yaml
@@ -19,7 +19,4 @@ obs_horizon: 2
 diffusion_steps: 100  # Number of diffusion timesteps for training
 
 # Camera Configuration
-# num_cams 应与 data.camera_names 列表长度一致
-# 可使用 Hydra OmegaConf resolver: ${oc.len:data.camera_names}
-# 但部分版本不支持，这里手动保持同步
-num_cams: 3  # len(data.camera_names) = 3
+num_cams: ${oc.len:data.camera_names}  # 自动从 data.camera_names 列表长度获取
\ No newline at end of file
diff --git a/roboimi/vla/conf/data/resnet_dataset.yaml b/roboimi/vla/conf/data/resnet_dataset.yaml
index 73b7435..b2822da 100644
--- a/roboimi/vla/conf/data/resnet_dataset.yaml
+++ b/roboimi/vla/conf/data/resnet_dataset.yaml
@@ -16,4 +16,4 @@ camera_names:
   - front
 
 # Normalization Type: 'gaussian' (mean/std) or 'min_max' ([-1, 1])
-normalization_type: gaussian
+normalization_type: min_max