{ "contract": "l20_goal_reference_act_v1", "hand_side": "right", "control_hz": 30, "chunk_size": 16, "execute_steps": 4, "hidden_dim": 128, "heads": 4, "layers": 2, "latent_dim": 32, "batch_size": 32, "learning_rate": 0.0001, "kl_weight": 10.0, "max_updates": 1000, "evaluate_every": 100, "max_seconds": 600.0, "max_total_frames": 500000, "workspace_radius": 0.8, "seed": 42 }