Hi, all respect to your fantastic work,. However, it seems that there is a bug in your code, specifically, in /diffuser/diffuser/datasets/sequence.py line 57, the definition of function make_indices:

def make_indices(self, path_lengths, horizon):
 '''
 makes indices for sampling from dataset;
 each index maps to a datapoint
 '''
 indices = []
 for i, path_length in enumerate(path_lengths):
 max_start = min(path_length - 1, self.max_path_length - horizon)
 if not self.use_padding:
 max_start = min(max_start, path_length - horizon)
 for start in range(max_start):
 end = start + horizon
 indices.append((i, start, end))
 indices = np.array(indices)
 return indices

say we have a path with path_length = 34 and path_length - 1 < self.max_path_length - horizon, the max_start would be 33 so as for for start in range(max_start), the start would be in [0, 32], which means that the final timestep with index 33 can't be reached.

Hope you can fix it, and thanks a lot.

Best Regards!