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GreenChallengeModel

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GreenChallengeModel
File size: 2,529 Bytes
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{
    "n_obs_steps": 1,
    "device": "cuda",
    "use_amp": false,
    "normalization_mode": "mean_std",
    "obs_stride_seconds": 0.0,
    "n_state_obs_steps": 1,
    "state_obs_stride_seconds": 0.0,
    "n_action_steps": 50,
    "model_type": "qwen3vlpolicy",
    "num_steps": 10,
    "max_state_dim": 50,
    "max_action_dim": 50,
    "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": 768,
    "proj_width": 1280,
    "expert_block_stride": 4,
    "base_vlm_model": "Qwen/Qwen3.5-0.8B",
    "cognition_mode": "frozen_vlm_context_queries",
    "action_expert_model": "Qwen/Qwen3.5-0.8B",
    "num_cognition_tokens": 64,
    "cognition_vlm_layer": -1,
    "cognition_layer_mix": true,
    "cognition_layer_mix_per_token": true,
    "cognition_layer_mix_init": "uniform",
    "cognition_projection": "linear",
    "cognition_context_width": 512,
    "cognition_context_num_heads": 8,
    "cognition_context_ffn_multiplier": 4,
    "cognition_frozen_vlm_reference_kernels": false,
    "cognition_action_expert_reference_kernels": false,
    "num_trainable_vlm_layers": null,
    "inputs_embeds_gradient_checkpointing": false,
    "precision": "bfloat16",
    "suffix_attention_mask": "causal",
    "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_vlm": false,
    "state_history_dropout_prob": 0.0,
    "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": "flash_attention_2",
    "mask_padded_actions": true,
    "hold_at_subtask_boundary": false,
    "hold_at_subtask_boundary_loss_fraction": 1.0,
    "mask_temporally_padded_actions": true,
    "enable_learnable_layer_combination": true,
    "layer_combination_init": "identity",
    "is_knowledge_insulation": false,
    "ce_loss_weight": 0.5,
    "freeze_vlm": false,
    "compile_sample_actions": false,
    "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": 1,
    "type": "qwen3vlpolicy"
}