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config.json

@@ -1,6 +1,6 @@
 {
-    "type": "diffusion",
-    "n_obs_steps": 8,
+    "type": "long_task_diffusion",
+    "n_obs_steps": 4,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -57,14 +57,14 @@
         "ACTION": "MIN_MAX"
     },
     "drop_n_last_frames": 7,
-    "vision_backbone": "resnet18",
+    "vision_backbone": "resnet50",
     "crop_shape": [
         320,
         320
     ],
     "crop_is_random": true,
-    "pretrained_backbone_weights": null,
-    "use_group_norm": true,
+    "pretrained_backbone_weights": "ResNet50_Weights.IMAGENET1K_V2",
+    "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [
@@ -94,5 +94,7 @@
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 1e-06,
     "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
+    "scheduler_warmup_steps": 500,
+    "custom_loss_weight": 1.0,
+    "horizon_extension_factor": 1.0
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5472d560080c03bdabf6cc29d084fca8254dbf876cc1baa88ec4cf9522191920
-size 1307972212
+oid sha256:be1f374791e08220d6a1fd840c91ea520755e323534a57dd012224eff4b6c7d3
+size 1365979908