Upload folder using huggingface_hub

norm_stats/bridge/norm_stats.json

@@ -2,13 +2,13 @@
   "norm_stats": {
     "state": {
       "mean": [
-        0.30944493412971497,
-        0.03083956055343151,
-        0.06462346762418747,
-        0.006902745459228754,
-        -0.07716915011405945,
-        0.10744334757328033,
-        0.7086101770401001,
+        0.30577051723880927,
+        0.028861134958406025,
+        0.06447815915648059,
+        0.00712421698550335,
+        -0.0994403138974063,
+        0.1643698591123044,
+        0.7468326237532336,
         0.0,
         0.0,
         0.0,
@@ -52,13 +52,13 @@
         0.0
       ],
       "std": [
-        0.06061359494924545,
-        0.09187643975019455,
-        0.051569875329732895,
-        0.1313842535018921,
-        0.16899412870407104,
-        0.5791513323783875,
-        0.3534121811389923,
+        0.06072649710385429,
+        0.08982358672272625,
+        0.050087702571953684,
+        0.12516109113917823,
+        0.15881251387668488,
+        0.6274258059877028,
+        0.31924254162915505,
         0.0,
         0.0,
         0.0,
@@ -102,13 +102,13 @@
         0.0
       ],
       "q01": [
-        0.17080245912075043,
-        -0.16919367015361786,
-        -0.05551164597272873,
-        -0.3680379390716553,
-        -0.5412271618843079,
-        -1.3585388660430908,
-        0.05191333591938019,
+        -0.04167502000927925,
+        -0.2889411449432373,
+        -0.13934996724128723,
+        -3.141592502593994,
+        -1.4225990772247314,
+        -3.14153790473938,
+        0.0,
         0.0,
         0.0,
         0.0,
@@ -152,13 +152,13 @@
         0.0
       ],
       "q99": [
-        0.45315778255462646,
-        0.2355218231678009,
-        0.1951930969953537,
-        0.3783900737762451,
-        0.27400290966033936,
-        1.8453774452209473,
-        1.0103275775909424,
+        0.5862360596656799,
+        0.3903106153011322,
+        0.3568263053894043,
+        1.2233866453170776,
+        1.570796251296997,
+        3.140265703201294,
+        1.1121242046356201,
         0.0,
         0.0,
         0.0,
@@ -204,13 +204,13 @@
     },
     "actions": {
       "mean": [
-        -0.00022131060541141778,
-        0.0001565980346640572,
-        0.0012841777643188834,
-        9.825215238379315e-05,
-        -0.0004830362449865788,
-        -0.0006388952606357634,
-        0.5721420049667358,
+        0.0001589797685916119,
+        0.0004005878358500706,
+        0.0007804235060267766,
+        -0.00018274127480764142,
+        -0.0016217328910304492,
+        0.0011666098121546206,
+        0.5058382970557591,
         0.0,
         0.0,
         0.0,
@@ -254,13 +254,13 @@
         0.0
       ],
       "std": [
-        0.009313955903053284,
-        0.012964807450771332,
-        0.012807730585336685,
-        0.02956678718328476,
-        0.030918842181563377,
-        0.071807362139225,
-        0.4947454035282135,
+        0.009549891248181659,
+        0.013252381358995344,
+        0.013220149962047387,
+        0.02715868952021054,
+        0.030972004097600116,
+        0.07118100712319506,
+        0.4998331142113697,
         0.0,
         0.0,
         0.0,
@@ -304,13 +304,13 @@
         0.0
       ],
       "q01": [
-        -0.029368609189987183,
-        -0.04098840802907944,
-        -0.025237709283828735,
-        -0.08243680000305176,
-        -0.09457993507385254,
-        -0.19020795822143555,
-        0.0,
+        -0.3887568712234497,
+        -0.11164695024490356,
+        -0.22553899884223938,
+        -3.1120171546936035,
+        -1.8618112802505493,
+        -6.279075622558594,
+        -0.02155647799372673,
         0.0,
         0.0,
         0.0,
@@ -354,13 +354,13 @@
         0.0
       ],
       "q99": [
-        0.026068925857543945,
-        0.04000084102153778,
-        0.04269665479660034,
-        0.08576250076293945,
-        0.08266448974609375,
-        0.17873811721801758,
-        0.9997999668121338,
+        0.41691166162490845,
+        0.11164695024490356,
+        0.21218234300613403,
+        3.122201919555664,
+        1.8618112802505493,
+        6.270115852355957,
+        1.0295004844665527,
         0.0,
         0.0,
         0.0,

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",
@@ -41,8 +41,6 @@
     "layer_combination_init": "identity",
     "is_knowledge_insulation": true,
     "ce_loss_weight": 0.5,
-    "freeze_vlm": false,
-    "compile_sample_actions": false,
     "state_special_token_id": 228,
     "clip_state": false,
     "freeze_vision_encoder": false,
@@ -50,5 +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 sha256:21952884774752459c26db64307d4a6e94cc92ef349593e2ad5fbb7f606e9ecb
-size 9384574440
+oid sha256:43fffff3c5ab891d6c4e2a2bda3eac3aa8af454fbe147f371825c96fa539f053
+size 10818266696