{
  "horizon": 16,
  "action_dim": 2,
  "state_dim": 4,
  "goal_dim": 2,
  "num_diffusion_steps": 100,
  "down_dims": [
    64,
    128,
    256
  ],
  "batch_size": 32,
  "total_steps": 8000,
  "lr": 0.0002,
  "weight_decay": 1e-05,
  "warmup_steps": 200,
  "grad_clip": 10.0,
  "eval_freq": 2000,
  "log_freq": 25,
  "hub_model_id": "precison9/human-like-robot-nav-diffusion"
}