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config.json

@@ -41,7 +41,7 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 12,
+    "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
@@ -52,10 +52,10 @@
     "pretrained_backbone_weights": "ResNet34_Weights.IMAGENET1K_V1",
     "state_dim": 7,
     "action_dim": 7,
-    "d_model": 512,
+    "d_model": 256,
     "nhead": 8,
-    "num_encoder_layers": 6,
-    "dim_feedforward": 1024,
+    "num_encoder_layers": 4,
+    "dim_feedforward": 512,
     "diffusion_step_embed_dim": 128,
     "down_dims": [
         512,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0ae90d27f45db7e8e12b3581677d28adef049aa43469c4cb8a8f7b0adcb44546
-size 1275407092
+oid sha256:66026088a9bcc3f6c7e8cf47ea0997fecdaff452ce50158f51c7c1a79127f8b2
+size 1201650556