Upload policy weights, train config and readme

config.json

@@ -34,7 +34,7 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 8,
+    "horizon": 32,
     "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8b219bf628420ab0c949fa5c2f31ec4ff5d295c256f10bf74acc4694b47fa977
+oid sha256:3d40d8817e1385e35e49cc4a61d4983993bc45ba36ad652f91e2374cff9ce16b
 size 1051836312

train_config.json

@@ -116,7 +116,7 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "horizon": 8,
+        "horizon": 32,
         "n_action_steps": 8,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
@@ -163,8 +163,8 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diffusion_horizon_8_3",
-    "job_name": "diffusion_vfolding",
+    "output_dir": "outputs/train/diffusion_horizon_32_3",
+    "job_name": "diffusion_vfolding_large_horizon",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -203,7 +203,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "k3i51bto",
+        "run_id": "b6seoh1t",
         "mode": null
     },
     "peft": null,