Enable inference serving && fix train stability (#59)

* enable serving * lint * update * update
2025-10-26 16:02:34 +08:00
parent d821b0cb26
commit 722335e428
11 changed files with 1675 additions and 1 deletions
@@ -307,7 +307,7 @@ class ActionProcessor(nn.Module):
            torch.Tensor: Sampled timesteps of shape [batch_size]
        """
        sample = self.beta_dist.sample([batch_size]).to(device=device, dtype=dtype)
-        time = (self.s - sample) / self.s
+        time = (1 - sample) / self.s
        return time

    def proprioception_proj(