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config.json

@@ -57,17 +57,16 @@
     ],
     "state_dim": 7,
     "action_dim": 7,
-    "d_model": 512,
+    "d_model": 256,
     "nhead": 8,
     "num_encoder_layers": 4,
     "dim_feedforward": 512,
-    "diffusion_step_embed_dim": 256,
+    "diffusion_step_embed_dim": 128,
     "down_dims": [
-        512,
-        1024,
-        2048
+        256,
+        512
     ],
-    "kernel_size": 5,
+    "kernel_size": 3,
     "n_groups": 8,
     "use_film_scale_modulation": true,
     "optimizer_lr": 0.0001,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eb351a6d7241e3f2d18637e9ae13df40404476e3a6bbbef7c85910e1dd4410fe
-size 1195103096
+oid sha256:ecf0b85712c1c2f45c452b3d354fb4ad4276ec288f6abc12a464e3033b8fd052
+size 115488856