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config.json

@@ -41,21 +41,30 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 16,
+    "horizon": 12,
     "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
         "ACTION": "MIN_MAX"
     },
-    "vision_backbone": "resnet18",
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "vision_backbone": "resnet34",
+    "pretrained_backbone_weights": "ResNet34_Weights.IMAGENET1K_V1",
     "state_dim": 7,
     "action_dim": 7,
-    "d_model": 128,
-    "nhead": 4,
-    "num_encoder_layers": 4,
-    "dim_feedforward": 512,
+    "d_model": 512,
+    "nhead": 8,
+    "num_encoder_layers": 6,
+    "dim_feedforward": 1024,
+    "diffusion_step_embed_dim": 128,
+    "down_dims": [
+        512,
+        1024,
+        2048
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "use_film_scale_modulation": true,
     "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.95,
@@ -64,6 +73,5 @@
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 1e-06,
     "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500,
-    "num_inference_steps": 100
+    "scheduler_warmup_steps": 500
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2e1112f087b7fadcee68e7928fe26e0c1e4d292ef9b25ede0848c5785375374b
-size 97023028
+oid sha256:d8ddd52cb9be37ccadce116364ca0a06c754f0fd9f0c85b30596bc1db49b0f1f
+size 1275406900