Method forward

inputs: action: (B, Ta, Da) action chunk time: (B,) or float within [0,1), flow time cond: dict with key state/rgb; more recent obs at the end state: (B, To, Do) rgb: (B, To, C, H, W) outputs: TODO long ter

(
        self,
        action,
        time,
        cond: dict,
        output_embedding=False,
        **kwargs,
    )