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config.json

@@ -45,7 +45,7 @@
     "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
+        "VISUAL": "IDENTITY",
         "STATE": "MIN_MAX",
         "ACTION": "MIN_MAX"
     },
@@ -55,7 +55,7 @@
     "action_dim": 7,
     "d_model": 512,
     "nhead": 8,
-    "num_encoder_layers": 6,
+    "num_encoder_layers": 8,
     "dim_feedforward": 512,
     "diffusion_step_embed_dim": 256,
     "down_dims": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f67d58116cd3c3372947788582d2848b846d45eaf5ec1cfa934a8a2fd3389b38
-size 1283736248
+oid sha256:17f7b2c2391e11fb8f7f9b0118ffe4569bd124d680be2d632d4a6a469b62231c
+size 1291140800

policy_postprocessor.json

@@ -14,7 +14,7 @@
           }
         },
         "norm_map": {
-          "VISUAL": "MEAN_STD",
+          "VISUAL": "IDENTITY",
           "STATE": "MIN_MAX",
           "ACTION": "MIN_MAX"
         }

policy_preprocessor.json

@@ -53,7 +53,7 @@
           }
         },
         "norm_map": {
-          "VISUAL": "MEAN_STD",
+          "VISUAL": "IDENTITY",
           "STATE": "MIN_MAX",
           "ACTION": "MIN_MAX"
         }