debug(inference): 添加推理阶段qpos归一化

2026-02-06 09:00:44 +08:00
parent b0a944f7aa
commit 66009473ad
7 changed files with 859 additions and 121 deletions
--- a/roboimi/vla/data/dataset.py
+++ b/roboimi/vla/data/dataset.py
@@ -11,7 +11,7 @@ class RobotDiffusionDataset(Dataset):
    def __init__(self, 
                 dataset_dir, 
                 pred_horizon=16, 
-                 obs_horizon=1, 
+                 obs_horizon=2, 
                 action_horizon=8,
                 camera_names=['r_vis', 'top'],
                 normalization_type='gaussian'):