Upload sensor diffusion model - 50 epochs completed

README.md

@@ -102,13 +102,9 @@ with torch.no_grad():
 
 ## Dataset Notes
 
-- **Goals are trajectory-specific**: Each trajectory has a unique goal (final cartesian position)
-- **Goal distribution**: 
-  - X range: [-0.239, 0.294] meters
-  - Y range: [-0.284, 0.317] meters  
-  - Z range: [0.364, 0.579] meters
-- **Total trajectories**: ~500 trajectories across 20 H5 files
-- **Goal extraction**: Goal = final cartesian position of each trajectory (varies per trajectory)
+- All trajectories have the same start and end positions
+- Single demonstration repeated 70 times
+- Goal: Final cartesian position `[0.454, -0.133, 0.522]` (constant)
 
 ## License
 

model.safetensors

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