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config.json

@@ -1,6 +1,6 @@
 {
     "type": "transformer_flow_matching",
-    "n_obs_steps": 1,
+    "n_obs_steps": 2,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -56,7 +56,7 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 50,
+    "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "IDENTITY",
@@ -85,7 +85,7 @@
     "dim_feedforward": 2048,
     "diffusion_step_embed_dim": 128,
     "num_inference_steps": 20,
-    "optimizer_lr": 1e-05,
+    "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.95,
         0.999
@@ -94,6 +94,6 @@
     "optimizer_weight_decay": 1e-06,
     "scheduler_warmup_steps": 1500,
     "use_peft": false,
-    "training_step": 127000,
-    "training_epoch": 175
+    "training_step": 3000,
+    "training_epoch": 4
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 747695124
+oid sha256:cffbecee98d764ccfa2395c4d92e4df888fedbdf13ddee3aed0eba79ca6ead51
+size 745509700