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| "unit": 0 |
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| "outgoing": "leg pre-tanh offset -0.6 per m/s of relu(vx): dose -0.6 from the atlas leg-bias series (c45da4356/c7a9b0871, fastest survivors)" |
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| "bias": "gate saturates at vx = 1.0 m/s: base start-up vx stays below 1 for ~35 steps (traces run 13 item 0), covering the pitch-over window steps 7-16 (c30d14409), while cruise vx oscillates only 2.3-2.5 (run 13 item 7); net leg offset = -0.6*clip(vx,0,1)" |
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