* `g.x`: until end of episode * edge_index * edge_attrs * `g.y`: prompt for whole demonstration - arbitrary # nodes * `g.pos`: initial position for prediction (current obs) Iterate through episode $t$ updating initial pose (`g.pos`) and `g.x`
g.x: until end of episodeg.y: prompt for whole demonstration - arbitrary # nodesg.pos: initial position for prediction (current obs)Iterate through episode$t$ updating initial pose (
g.pos) andg.x