Forward pass for sampling actions. Used in evaluating pre-trained/fine-tuned policy. Not modifying diffusion clipping. Args: cond: dict with key state/rgb; more recent obs at the end state: (B, To, Do) rgb: (B, To, C, H, W) Return
(self, cond, deterministic=True)
source not stored for this graph (policy: none)
nothing calls this directly
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