Upload config.json with huggingface_hub

config.json

@@ -1,6 +1,6 @@
 {
     "type": "transformer_diffusion",
-    "n_obs_steps": 2,
+    "n_obs_steps": 1,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -8,6 +8,13 @@
                 7
             ]
         },
+        "observation.box": {
+            "type": "STATE",
+            "shape": [
+                6,
+                4
+            ]
+        },
         "observation.images.gripper": {
             "type": "VISUAL",
             "shape": [
@@ -50,7 +57,7 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 16,
+    "horizon": 50,
     "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "IDENTITY",
@@ -65,7 +72,9 @@
     "num_cameras": 3,
     "vision_freeze_layers": 6,
     "cameras_for_vision_state_concat": [
-        "observation.images.front"
+        "observation.images.front",
+        "observation.images.gripper",
+        "observation.images.right"
     ],
     "state_dim": 7,
     "action_dim": 7,