Khalil Meftah 2d7a42011a fix(policies): support offline batch inference for ACT and Diffusion (#3822) ...

- Guard ACT's KL divergence computation against None latent params to
prevent crashes during eval when use_vae is set but the forward path
returns no VAE outputs.
- Add offline batch fallback to Diffusion's predict_action_chunk() so
it works with dataloader batches (empty queues) in addition to the
existing online rollout path (populated queues). This enables batched
action prediction for offline evaluation.

2026-06-21 11:48:45 +02:00

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lerobot

fix(policies): support offline batch inference for ACT and Diffusion (#3822)

2026-06-21 11:48:45 +02:00