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config.json

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+{
+    "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"
+}