Martino Russi 51ca2be48a feat(flow-matching): cover per-policy sampling divergences ...

Extend the shared samplers to represent the non-openpi conventions Martino
catalogued, without changing existing openpi behavior:

- sample_noise: add distribution="uniform" for evo1's rand*2-1 noise.
- sample_time_beta: add complement flag (groot/wall_x forward t=(1-beta)*s)
  and optional clamp_min/clamp_max (evo1 Beta(2,2) clamped to [0.02, 0.98]);
  scale/offset now default to the identity mapping.
- sample_beta: build the Beta distribution via a cached, CPU-side helper
  (groot convention) so it is constructed once per (alpha, beta).

Adds tests for uniform noise, complement/clamp timesteps, and caching.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-07-19 12:29:49 +02:00

..

test_flow_matching.py

feat(flow-matching): cover per-policy sampling divergences

2026-07-19 12:29:49 +02:00

test_vla_utils.py

refactor(vla): extract shared model components (#4054)

2026-07-17 17:37:05 +02:00