Update output objects to support batching#975
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verityw
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kvablack
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kvablack
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Jun 15, 2026
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Right now, LiberoOutputs and DroidOutputs are hardcoded to think that the second axis is the action dims, when it comes to removing the padding. This is a problem when running batched inference, as the output is then [batch size, chunk len, padded action dims]. Simple fix: instead of hardcoded to be second axis, set it to be the last.
[:, :<max action dim>] --> [..., :<max action dim>]This is functionally identical to the past version for all unbatched use cases.