Update README.md

README.md

@@ -12,6 +12,7 @@ tags:
 - aloha
 - imitation-learning
 - benchmark
+
 ---
 
 # 🦾 Diffusion Policy for Aloha Insertion (200k Steps)
@@ -70,6 +71,7 @@ For reproducibility, here are the key parameters used during the training sessio
 
 <details>
 <summary>📄 <strong>Click to view full <code>diffusion_aloha.yaml</code> used for training</strong></summary>
+</details>
 
 ```yaml
 # @package _global_
@@ -128,7 +130,7 @@ policy:
   # --- 噪声调度器 (DDPM) ---
   noise_scheduler_type: DDPM
   num_train_timesteps: 100
-  num_inference_steps: 100
+  num_inference_timesteps: 100
   beta_schedule: squaredcos_cap_v2
   beta_start: 0.0001
   beta_end: 0.02
@@ -145,9 +147,7 @@ policy:
   scheduler_warmup_steps: 500
 
   use_amp: true
-````
-
-\</details\>
+```
 
 -----
 
@@ -175,7 +175,4 @@ python -m lerobot.scripts.lerobot_eval \
   --eval.batch_size 8 \
   --env.type aloha \
   --env.task AlohaInsertion-v0
-```
-
-```
 ```