diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
index 9e90458..8a1295f 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
@@ -335,11 +335,14 @@ class DreamWaQTask(Go1WalkTask):
             data.set_dof_pos(np.nan_to_num(np.array(dp), nan=0.0, posinf=0.0, neginf=0.0), self._model)
         obs = self._get_obs(data, state.info)
 
-        # 更新历史缓冲区
-        old_history = state.info.get("obs_history",
+        # 更新历史缓冲区：CENet 用不含当前帧的历史预测下一帧（论文 LVAE = MSE(õ_{t+1}, o_{t+1})）
+        full_hist = state.info.get("obs_history_full",
             np.zeros((self._num_envs, self._cfg.num_history, 45), dtype=np.float32))
-        new_history = np.concatenate([old_history[:, 1:, :], obs[:, np.newaxis, :]], axis=1)
-        state.info["obs_history"] = new_history
+        # 当前 CENet 输入：上一轮保存的历史（止于 o_{t-1}）
+        state.info["obs_history"] = full_hist
+        # 为下一轮准备新历史：滑窗 + 当前帧
+        new_full = np.concatenate([full_hist[:, 1:, :], obs[:, np.newaxis, :]], axis=1)
+        state.info["obs_history_full"] = new_full
 
         current_step = state.info.get("steps", np.zeros(self._num_envs, dtype=np.int32))