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config.json

@@ -1,6 +1,6 @@
 {
     "type": "diffusion",
-    "n_obs_steps": 2,
+    "n_obs_steps": 24,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -49,8 +49,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 8,
-    "n_action_steps": 4,
+    "horizon": 24,
+    "n_action_steps": 12,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
@@ -59,12 +59,12 @@
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
-        400,
-        400
+        320,
+        320
     ],
     "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
+    "pretrained_backbone_weights": null,
+    "use_group_norm": true,
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:05bbea5553af029952351d4d9b462f6a0b7166614f4bda92f9b6f283c06d7a3a
-size 1171173468
+oid sha256:685e4950cb89d31cc354b086a606337c292cdfbc2df94638753d79af2e40683c
+size 1673138828