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fix: VAE predicts next frame (paper: LVAE = MSE(õ_{t+1}, o_{t+1})), history excludes current obs

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8x54zj-m
2026-07-01 15:39:56 +08:00
parent 3038aa7ac7
commit 308f2090a5
1 changed files with 7 additions and 4 deletions
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11
motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
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@@ -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) 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) obs = self._get_obs(data, state.info)
# 更新历史缓冲区 # 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})）
old_history = state.info.get("obs_history", full_hist = state.info.get("obs_history_full",
np.zeros((self._num_envs, self._cfg.num_history, 45), dtype=np.float32)) 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) # 当前 CENet 输入：上一轮保存的历史（止于 o_{t-1}）
state.info["obs_history"] = new_history 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)) current_step = state.info.get("steps", np.zeros(self._num_envs, dtype=np.int32))