| { | |
| "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 | |
| } |