Fix CUDA device mismatch in RTC inference timestep#68
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In predict_action_with_training_rtc_flow, torch.where(prefix_mask, 0, timestep) mixed a CUDA condition (prefix_mask) with a CPU scalar (the scheduler's timestep), triggering an illegal memory access on the second (RTC-conditioned) act call. The trailing .to(self.device) ran too late. Move timestep to the device inside the where. Safe no-op when timestep is already on-device; the non-RTC path was unaffected.
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In predict_action_with_training_rtc_flow, torch.where(prefix_mask, 0, timestep) mixed a CUDA condition (prefix_mask) with a CPU scalar (the scheduler's timestep), triggering an illegal memory access on the second (RTC-conditioned) act call. The trailing .to(self.device) ran too late. Move timestep to the device inside the where. Safe no-op when timestep is already on-device; the non-RTC path was unaffected.