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config.json

@@ -8,7 +8,7 @@
                 7
             ]
         },
-        "observation.images.gripper": {
+        "observation.images.rgb": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -16,7 +16,7 @@
                 640
             ]
         },
-        "observation.images.rgb": {
+        "observation.images.gripper": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -58,7 +58,7 @@
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
+    "use_separate_rgb_encoder_per_camera": false,
     "down_dims": [
         512,
         1024,

model.safetensors

@@ -1,3 +1,3 @@
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-oid sha256:69198cf2623fe537f39f46eb4b427ce87a9e8322fb1febf5094629cbd05104af
-size 1235510748
+oid sha256:c44e7d8256692b3c5e600e4479a2b00e52970f61b4ac70ba414a02f51c5a8e5c
+size 1190668668

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:11eb6eef4f644208e300af6bba6a2020e80142199e17009ec0b8c4e1411cae16
+oid sha256:7f2712795acd5a54033da1a8660726de8715be5d1be8a12495b98272a07c8e4a
 size 9120

policy_preprocessor.json

@@ -29,7 +29,7 @@
               7
             ]
           },
-          "observation.images.gripper": {
+          "observation.images.rgb": {
             "type": "VISUAL",
             "shape": [
               3,
@@ -37,7 +37,7 @@
               640
             ]
           },
-          "observation.images.rgb": {
+          "observation.images.gripper": {
             "type": "VISUAL",
             "shape": [
               3,

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:11eb6eef4f644208e300af6bba6a2020e80142199e17009ec0b8c4e1411cae16
+oid sha256:7f2712795acd5a54033da1a8660726de8715be5d1be8a12495b98272a07c8e4a
 size 9120