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Prediction Horizon in IBC implementation. #104

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migooll opened this issue Aug 22, 2024 · 0 comments

migooll commented Aug 22, 2024

Hello!

I was wondering why the prediction horizon in IBC, as seen; for example, in this line

diffusion_policy/diffusion_policy/policy/ibc_dfo_hybrid_image_policy.py

Line 200 in 548a52b

samples = action_dist.sample((B, self.pred_n_samples, Ta)).to(

is just up until the action horizon? Did you try doing inference with IBC for future actions as well?

Thanks for your implementations by the way.

Best,
Miguel

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