feat: activate CNN encoder, enable head near-zero init, disable NormalizeVelocity

- Activate CNNEncoder forward (replace zero placeholder with actual inference)
- Enable near-zero weight init for head final layer (weight*=0.01, bias=0)
- Disable NormalizeVelocity transform to train on raw velocity scale
- (BatchNorm remains commented out)

Generated by deepseek-v4-flash.
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>

src/velocity_prediction/model.py

@@ -119,8 +119,10 @@ class VelocityPredictionModel(nn.Module):
         )
 
         # # Small init for the final layer: start from near-zero output
-        # self.head[-1].weight.data.mul_(0.01)
+        self.head[-1].weight.data.mul_(0.01)
-        # self.head[-1].bias.data.zero_()
+        self.head[-1].bias.data.zero_()
+        # nn.init.uniform_(self.head[-1].weight, -0.001, 0.001)
+        # nn.init.zeros_(self.head[-1].bias)
 
     def forward(self, events: torch.Tensor, tilt: torch.Tensor) -> torch.Tensor:
         """
@@ -132,9 +134,9 @@ class VelocityPredictionModel(nn.Module):
             v_body: (B, 2)  predicted body-frame [v_forward, v_lateral] at the last timestep
         """
         # Per-frame encoding
-        # cnn_feat = self.cnn(events)           # (B, S, 256)
+        cnn_feat = self.cnn(events)           # (B, S, 256)
-        B, S = events.shape[:2]
+        # B, S = events.shape[:2]
-        cnn_feat = events.new_zeros(B, S, self.cnn.out_dim) # 全零替代
+        # cnn_feat = events.new_zeros(B, S, self.cnn.out_dim) # 全零替代
 
         pose_feat = self.pose_mlp(tilt)       # (B, S, 64)
 

src/velocity_prediction/transforms.py

@@ -139,7 +139,7 @@ def build_train_transform(event_threshold=0.1, event_use_log=True):
         SimulateEvents(threshold=event_threshold, use_log=event_use_log),
         ComputeTilt(),
         ComputeBodyVelocity(),
-        NormalizeVelocity(),
+        # NormalizeVelocity(),
     ])
 
 
@@ -150,5 +150,5 @@ def build_val_transform(event_threshold=0.1, event_use_log=True):
         SimulateEvents(threshold=event_threshold, use_log=event_use_log),
         ComputeTilt(),
         ComputeBodyVelocity(),
-        NormalizeVelocity(),
+        # NormalizeVelocity(),
     ])