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[Fix] Update inference-only-demo for InternVLA-N1-DualVLN#220

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Merged
Tai-Wang merged 2 commits into from
Dec 31, 2025
Merged

[Fix] Update inference-only-demo for InternVLA-N1-DualVLN #220

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a8468dc
[Fix] Update inference-only-demo for InternVLA-N1-DualVLN
yuqiang-yang Dec 30, 2025
1e6a77c
[Fix] fix notebook output.
yuqiang-yang Dec 31, 2025
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8 changes: 4 additions & 4 deletions internnav/agent/internvla_n1_agent_realworld.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -222,10 +222,10 @@ def step_s2(self, rgb, depth, pose, instruction, intrinsic, look_down=False):
**inputs,
max_new_tokens=128,
do_sample=False,
use_cache=True,
past_key_values=self.past_key_values,
# use_cache=True,
# past_key_values=self.past_key_values,
return_dict_in_generate=True,
raw_input_ids=copy.deepcopy(inputs.input_ids),
# raw_input_ids=copy.deepcopy(inputs.input_ids),
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)
output_ids = outputs.sequences

Expand DownExpand Up@@ -253,5 +253,5 @@ def step_s2(self, rgb, depth, pose, instruction, intrinsic, look_down=False):
return action_seq, None, None

def step_s1(self, latent, rgb, depth):
all_trajs = self.model.generate_traj(latent, rgb, depth, use_async=True)
all_trajs = self.model.generate_traj(latent, rgb, depth)
return all_trajs
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