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config.json

@@ -1,6 +1,6 @@
 {
     "type": "transformer_diffusion",
-    "n_obs_steps": 4,
+    "n_obs_steps": 2,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -64,12 +64,15 @@
     ],
     "num_cameras": 3,
     "vision_freeze_layers": 0,
+    "cameras_for_vision_state_concat": [
+        "observation.images.front"
+    ],
     "state_dim": 7,
     "action_dim": 7,
     "d_model": 512,
     "nhead": 8,
-    "num_encoder_layers": 3,
-    "num_decoder_layers": 6,
+    "num_encoder_layers": 4,
+    "num_decoder_layers": 4,
     "dim_feedforward": 512,
     "diffusion_step_embed_dim": 256,
     "kernel_size": 3,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:63a9f053a6fef77ea9341eb5f9c8f474c8bdf8aa3ea628951f8a5ec476ef2d08
-size 1137820532
+oid sha256:5c58b80bbf26a6470e5d2d3fc1682f0fae60ac6dc0bb3be3e3b7a5a2c49fc267
+size 446938684