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config.json

@@ -1,5 +1,5 @@
 {
-    "type": "diffusion",
+    "type": "custom_diffusion",
     "n_obs_steps": 10,
     "input_features": {
         "observation.state": {
@@ -44,13 +44,13 @@
     "device": "cuda",
     "use_amp": false,
     "push_to_hub": true,
-    "repo_id": "ISdept/piper_arm",
+    "repo_id": null,
     "private": null,
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 24,
-    "n_action_steps": 8,
+    "horizon": 16,
+    "n_action_steps": 16,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
@@ -59,14 +59,14 @@
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
-        84,
-        84
+        400,
+        400
     ],
     "crop_is_random": true,
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": false,
+    "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [
         512,
         1024,

model.safetensors

@@ -1,3 +1,3 @@
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+size 1353756788

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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 size 10144

policy_preprocessor_step_3_normalizer_processor.safetensors

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 size 10144