Backup DreamWaQ rslrl stability fixes

2026-07-22 02:17:01 +08:00
parent c664e7422f
commit 3648551043
17 changed files with 1068 additions and 96 deletions
--- a/scripts/export_dreamwaq_onnx_new.py
+++ b/scripts/export_dreamwaq_onnx_new.py
@@ -28,7 +28,7 @@ class DwaqInfer(torch.nn.Module):
        """obs: (N,45), obs_history: (N,225) → action: (N,12)"""
        code = self.vae.deterministic_code(obs_history)  # (N,19)
        latent = torch.cat([code, obs], dim=-1)  # (N,64)
-        return self.actor_mlp(latent)
+        return torch.clamp(self.actor_mlp(latent), -4.0, 4.0)


 def main():