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feat: mimic pi05 config and episode control#584

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littlespray wants to merge 2 commits into
nvidia-cosmos:mainfrom
littlespray:feat/pi05-style-cfg
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feat: mimic pi05 config and episode control#584
littlespray wants to merge 2 commits into
nvidia-cosmos:mainfrom
littlespray:feat/pi05-style-cfg

add index control

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