{
    "n_obs_steps": 1,
    "device": "cuda",
    "use_amp": false,
    "normalization_mode": "mean_std",
    "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": 356,
    "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": true,
    "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"
}