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config.json

@@ -1,6 +1,6 @@
 {
     "type": "long_task_diffusion",
-    "n_obs_steps": 4,
+    "n_obs_steps": 10,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -49,21 +49,21 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 8,
-    "n_action_steps": 4,
+    "horizon": 16,
+    "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
         "ACTION": "MIN_MAX"
     },
     "drop_n_last_frames": 7,
-    "vision_backbone": "resnet50",
+    "vision_backbone": "resnet18",
     "crop_shape": [
         320,
         320
     ],
     "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet50_Weights.IMAGENET1K_V2",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": true,
@@ -85,7 +85,7 @@
     "clip_sample": true,
     "clip_sample_range": 1.0,
     "num_inference_steps": null,
-    "do_mask_loss_for_padding": false,
+    "do_mask_loss_for_padding": true,
     "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.95,

model.safetensors

@@ -1,3 +1,3 @@
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policy_postprocessor_step_0_unnormalizer_processor.safetensors

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 size 10168

policy_preprocessor_step_3_normalizer_processor.safetensors

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 size 10168