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  "num_actions": 50,
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  "state_conditioning_mode": "discrete_vlm",
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  "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
}