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README.md
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# Total: 86D + 3D + 32D = 121D
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**Why include recent obs?**
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The actor needs immediate state information (velocities, commands) that might be lost in the compressed latent. This creates a skip connection from input to actor.
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### Architecture
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```python
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Actor(
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# Total: 86D + 3D + 32D = 121D
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```
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### Architecture
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```python
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Actor(
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