state.json

{
  "global_step": 100000,
  "num_actions": 50,
  "use_proprio": true,
  "state_conditioning_mode": "discrete_vlm",
  "state_discrete_bins": 256,
  "world_size": 48,
  "ema_decay": 0.0,
  "ema_update_interval": 1,
  "ema_updates": 0,
  "training_contract": "lambda0_velocity_v1",
  "prediction_type": "velocity",
  "rtc_max_delay": 0,
  "action_expert_noise_samples": 4,
  "gradient_accumulation_steps": 1
}