Update README.md

README.md

@@ -1,5 +1,6 @@
-# Octo small
-This model is trained with a window size of 2, predicting 7-dimensional actions 4 steps into the future using a diffusion policy.
+# Octo Small
+This model is trained with a window size of 2, predicting 7-dimensional actions 4 steps into the future using a diffusion policy. The model is a Transformer with 27M parameters (equivalent to a ViT-S). Images are tokenized by preprocessing with a lightweight convolutional encoder, then grouped into 16x16 patches. Language is tokenized by applying the T5 tokenizer, and then applying the T5-Base language encoder. 
+
 Observations and tasks conform to the following spec:
 
 Observations: 
@@ -54,4 +55,4 @@ This model was trained on a mix of datasets from the Open X-Embodiment dataset
 | Austin Buds Dataset (Zhu et al, 2022)                  | 0.3\%               |
 | CMU Stretch (Mendonca et al, 2023)                 | 0.2\%               |
 | NYU Door Opening (Pari et al, 2021)                | 0.1\%               |
-| DLR EDAN Shared Control (Quere et al, 2020)          | 0.1\%               |
+| DLR EDAN Shared Control (Quere et al, 2020)          | 0.1\%               |