Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: jit
 pipeline_tag: robotics
 tags:
-- jit
-- lerobot
 - robotics
+- lerobot
+- jit
 ---
 
 # Model Card for jit

config.json

@@ -33,8 +33,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
+    "horizon": 32,
+    "n_action_steps": 16,
     "use_proprioceptive": true,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
@@ -53,7 +53,7 @@
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": false,
     "frequency_embedding_dim": 256,
-    "hidden_dim": 512,
+    "hidden_dim": 768,
     "num_blocks": 6,
     "num_heads": 16,
     "dropout": 0.1,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:066c5a839f26a692187b613557275972fb32d6b5fb8488d9aec0e491378a885d
-size 210571888
+oid sha256:1ce062678196c508b3cdc941dc661e6c499dd6bc16b03660843e7c49bb57f3a5
+size 341420720

train_config.json

@@ -156,8 +156,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
+        "horizon": 32,
+        "n_action_steps": 16,
         "use_proprioceptive": true,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
@@ -176,7 +176,7 @@
         "spatial_softmax_num_keypoints": 32,
         "use_separate_rgb_encoder_per_camera": false,
         "frequency_embedding_dim": 256,
-        "hidden_dim": 512,
+        "hidden_dim": 768,
         "num_blocks": 6,
         "num_heads": 16,
         "dropout": 0.1,
@@ -197,7 +197,7 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/2026-01-01/23-00-41_pusht_jit",
+    "output_dir": "outputs/train/2026-01-02/01-42-09_pusht_jit",
     "job_name": "pusht_jit",
     "resume": false,
     "seed": 1000,
@@ -237,7 +237,7 @@
         "project": "test",
         "entity": null,
         "notes": null,
-        "run_id": "3v5w2umq",
+        "run_id": "h3lnjh4b",
         "mode": null
     },
     "use_rabc": false,