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config.json

@@ -1,5 +1,5 @@
 {
-    "type": "diffusion",
+    "type": "custom_diffusion",
     "n_obs_steps": 10,
     "input_features": {
         "observation.state": {
@@ -27,7 +27,7 @@
         "observation.images.depth": {
             "type": "VISUAL",
             "shape": [
-                3,
+                1,
                 400,
                 640
             ]
@@ -58,10 +58,7 @@
     },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
-    "crop_shape": [
-        84,
-        84
-    ],
+    "crop_shape": null,
     "crop_is_random": true,
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_group_norm": false,

model.safetensors

@@ -1,3 +1,3 @@
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-size 1353752940
+oid sha256:2869198e292bc2278b784ef67441042a957f73baa7b1d6006b8880006d544b58
+size 1353758972

optimizer_state.pth

@@ -1,3 +1,3 @@
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+oid sha256:c63f8f528b7071295a4b64bda163a6f7f03020243810d2fc8439146674e86943
 size 2707441003

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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+oid sha256:9bc1d993434f26a9894eb7d331a4e8365ef4abdfd7b6624b24921678f6d59678
 size 10144

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f9d4dc2d5d18d7cd55f13e64c72825f54bcc6d7a98cb35a577d95f3b0feaf4c9
+oid sha256:9bc1d993434f26a9894eb7d331a4e8365ef4abdfd7b6624b24921678f6d59678
 size 10144