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config.json

@@ -1,6 +1,6 @@
 {
     "type": "diffusion",
-    "n_obs_steps": 4,
+    "n_obs_steps": 2,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -49,8 +49,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 24,
-    "n_action_steps": 24,
+    "horizon": 16,
+    "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8b304eb6a11c41c45019947a1f72342e201e0533e02d207e0582880ca14ee3aa
-size 1216819292
+oid sha256:4a6595749c41cd2d418529e30b046cef3863b4d809807376b83c80e172ed1eba
+size 1171173468