Method get_logprobs

Calculating the logprobs of the entire chain of denoised actions. Args: cond: dict with key state/rgb; more recent obs at the end state: (B, To, Do) rgb: (B, To, C, H, W) chains: (B, K+1, Ta, Da) get_ent: f

(
        self,
        cond,
        chains,
        get_ent: bool = False,
        use_base_policy: bool = False,
    )