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pretrained_model/config.json

@@ -4,7 +4,7 @@
     "use_amp": false,
     "normalization_mode": "mean_std",
     "n_action_steps": 10,
-    "model_type": "greenvlapolicy",
+    "model_type": "qwen3vlpolicy",
     "num_steps": 10,
     "max_state_dim": 48,
     "max_action_dim": 48,
@@ -18,7 +18,7 @@
     ],
     "tokenizer_max_length": 356,
     "proj_width": 1280,
-    "expert_block_stride": 4,
+    "expert_block_stride": 1,
     "base_vlm_model": "SberRoboticsCenter/Qwen3-VL-4B-Instruct-action",
     "precision": "bfloat16",
     "suffix_attention_mask": "block",
@@ -39,7 +39,7 @@
     "mask_padded_actions": true,
     "enable_learnable_layer_combination": true,
     "layer_combination_init": "identity",
-    "is_knowledge_insulation": false,
+    "is_knowledge_insulation": true,
     "ce_loss_weight": 0.5,
     "state_special_token_id": 228,
     "clip_state": false,
@@ -48,5 +48,5 @@
     "add_control_mode": true,
     "add_embodiment_name": true,
     "action_head_batch_multiplier": 4,
-    "type": "greenvlapolicy"
+    "type": "qwen3vlpolicy"
 }

pretrained_model/model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d32ec58e43c36e16302487af79a9dffdf399944b1ec7b5ee39325c8fbe557313
-size 9384574440
+oid sha256:e331a3e72e9064dea485e7f23ac6a1f1d2abd864c0a08633025acd23f2581798
+size 10818266696