Method sample

Sample trajectories using the learned velocity field. Args: cond: Dictionary containing 'state' tensor of shape (batch_size, cond_steps, obs_dim). inference_steps: Number of denoising steps. record_intermediate: Whether to return intermediate predictions.

(
        self,
        cond: dict,
        inference_steps: int,
        record_intermediate: bool = False,
        clip_intermediate_actions: bool = True,
        z:torch.Tensor = None
    )