| { | |
| "n_obs_steps": 1, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "normalization_mode": "quantile", | |
| "n_action_steps": 10, | |
| "model_type": "greenvlapolicy", | |
| "num_steps": 10, | |
| "max_state_dim": 48, | |
| "max_action_dim": 48, | |
| "map_to_unified_space": false, | |
| "unified_space_dim": 64, | |
| "add_action_space_factorization": true, | |
| "image_keys": [ | |
| "base_0_rgb", | |
| "left_wrist_0_rgb", | |
| "right_wrist_0_rgb" | |
| ], | |
| "tokenizer_max_length": 832, | |
| "proj_width": 1280, | |
| "expert_block_stride": 1, | |
| "base_vlm_model": "SberRoboticsCenter/Qwen3-VL-4B-Instruct-action", | |
| "precision": "bfloat16", | |
| "suffix_attention_mask": "block", | |
| "model_mode": "flow_matching", | |
| "inference_mode": "flow_matching", | |
| "image_shape": [ | |
| 448, | |
| 448 | |
| ], | |
| "default_temperature": 0.7, | |
| "discrete_state_input": false, | |
| "continuous_state_input": false, | |
| "add_state_proj_to_action_expert": true, | |
| "apply_noise_to_state_for_flow_matching": true, | |
| "state_noise_amplitude": 0.1, | |
| "state_dropout_prob": 0.5, | |
| "attention_implementation": "sdpa", | |
| "mask_padded_actions": true, | |
| "enable_learnable_layer_combination": true, | |
| "layer_combination_init": "identity", | |
| "is_knowledge_insulation": false, | |
| "ce_loss_weight": 0.5, | |
| "state_special_token_id": 228, | |
| "clip_state": false, | |
| "freeze_vision_encoder": false, | |
| "use_cache": false, | |
| "add_control_mode": true, | |
| "add_embodiment_name": true, | |
| "action_head_batch_multiplier": 4, | |
| "type": "greenvlapolicy" | |
| } |