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config.json

@@ -16,7 +16,15 @@
                 640
             ]
         },
-        "observation.images.depth": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                400,
+                640
+            ]
+        },
+        "observation.images.right": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -46,8 +54,8 @@
     "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "IDENTITY",
-        "STATE": "IDENTITY",
-        "ACTION": "IDENTITY"
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
     },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
@@ -60,6 +68,7 @@
     "d_model": 256,
     "nhead": 8,
     "num_encoder_layers": 4,
+    "num_decoder_layers": 6,
     "dim_feedforward": 512,
     "diffusion_step_embed_dim": 128,
     "down_dims": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ecf0b85712c1c2f45c452b3d354fb4ad4276ec288f6abc12a464e3033b8fd052
-size 115488856
+oid sha256:5ae373b294da56878219c90f08f98ed50c71e7d1566b3d231dac2ba7d6c05d6d
+size 169919396

policy_postprocessor.json

@@ -15,8 +15,8 @@
         },
         "norm_map": {
           "VISUAL": "IDENTITY",
-          "STATE": "IDENTITY",
-          "ACTION": "IDENTITY"
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
         }
       },
       "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:804d75bd36b22c7e8d016905f2577dd04ac939dbad6a75f7965d9654e218a1ab
-size 4000
+oid sha256:4b54f4af7ec44da8c8a4743e41d9df5883fc337be553d118e5a3dee6898c7a66
+size 4400

policy_preprocessor.json

@@ -37,7 +37,15 @@
               640
             ]
           },
-          "observation.images.depth": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              400,
+              640
+            ]
+          },
+          "observation.images.right": {
             "type": "VISUAL",
             "shape": [
               3,
@@ -54,8 +62,8 @@
         },
         "norm_map": {
           "VISUAL": "IDENTITY",
-          "STATE": "IDENTITY",
-          "ACTION": "IDENTITY"
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
         }
       },
       "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:804d75bd36b22c7e8d016905f2577dd04ac939dbad6a75f7965d9654e218a1ab
-size 4000
+oid sha256:4b54f4af7ec44da8c8a4743e41d9df5883fc337be553d118e5a3dee6898c7a66
+size 4400