diff --git a/README.md b/README.md
index d3d16aa..4e3ad08 100644
--- a/README.md
+++ b/README.md
@@ -101,7 +101,7 @@ You can refer to [config.yaml](Simulator/src/config/config.yaml) for modificatio
 
 **3. Start the YOPO Planner** 
 
-You can refer to [traj_opt.yaml](YOPO/config/traj_opt.yaml) for modification of the flight speed (The given weights are pretrained at 6 m/s and perform smoothly at speeds between 0 - 6 m/s).
+You can refer to [traj_opt.yaml](YOPO/config/traj_opt.yaml) for modification of the flight speed (The given weights are pretrained at 6 m/s and perform smoothly at speeds between 0 - 6 m/s, and more pretrained models are available at [Releases](https://github.com/TJU-Aerial-Robotics/YOPO/releases)).
 
 ```
 cd YOPO
diff --git a/YOPO/loss/guidance_loss.py b/YOPO/loss/guidance_loss.py
index b26ca0a..e844545 100644
--- a/YOPO/loss/guidance_loss.py
+++ b/YOPO/loss/guidance_loss.py
@@ -66,7 +66,7 @@ class GuidanceLoss(nn.Module):
         goal_length = goal_dir.norm(dim=1)  # [B]
 
         # length difference along goal direction (cosine similarity)
-        parallel_diff = (goal_length - traj_along).abs()  # [B]
+        parallel_diff = F.smooth_l1_loss(goal_length, traj_along, reduction='none')
 
         # length perpendicular to goal direction
         traj_perp = traj_dir - traj_along.unsqueeze(1) * goal_dir_norm  # [B, 3]
diff --git a/YOPO/saved/YOPO_1/epoch50.pth b/YOPO/saved/YOPO_1/epoch50.pth
old mode 100755
new mode 100644
index 54e988c..17c1ea8
Binary files a/YOPO/saved/YOPO_1/epoch50.pth and b/YOPO/saved/YOPO_1/epoch50.pth differ
diff --git a/YOPO/saved/YOPO_1/events.out.tfevents.1749801999.610.2449545.0 b/YOPO/saved/YOPO_1/events.out.tfevents.1749801999.610.2449545.0
deleted file mode 100755
index 9f0617e..0000000
Binary files a/YOPO/saved/YOPO_1/events.out.tfevents.1749801999.610.2449545.0 and /dev/null differ
diff --git a/YOPO/saved/YOPO_1/events.out.tfevents.1763990916.610.3199703.0 b/YOPO/saved/YOPO_1/events.out.tfevents.1763990916.610.3199703.0
new file mode 100644
index 0000000..6fc9ade
Binary files /dev/null and b/YOPO/saved/YOPO_1/events.out.tfevents.1763990916.610.3199703.0 differ
diff --git a/YOPO/test_yopo_ros.py b/YOPO/test_yopo_ros.py
index 4ae4ad0..841673a 100644
--- a/YOPO/test_yopo_ros.py
+++ b/YOPO/test_yopo_ros.py
@@ -140,7 +140,7 @@ class YopoNet:
 
         obs = np.concatenate((vel_c, acc_c, goal_c), axis=0).astype(np.float32)
         obs_norm = self.state_transform.normalize_obs(torch.from_numpy(obs[None, :]))
-        return obs_norm.to(self.device, non_blocking=True)
+        return obs_norm
 
     @torch.inference_mode()
     def callback_depth(self, data):
@@ -171,9 +171,8 @@ class YopoNet:
         # input prepare
         time1 = time.time()
         depth_input = torch.from_numpy(depth).to(self.device, non_blocking=True)  # (non_blocking: copying speed 3x)
-        obs_norm = self.process_odom()
+        obs_norm = self.process_odom().to(self.device, non_blocking=True)
         obs_input = self.state_transform.prepare_input(obs_norm)
-        obs_input = obs_input.to(self.device, non_blocking=True)
         # torch.cuda.synchronize()
 
         time2 = time.time()