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Add DualModePolicyConfig, simplify inference CLI - #80

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brentyi wants to merge 2 commits into
amazon-far:mainfrom
brentyi:brent/20260318_inference_cli_cleanup
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Add DualModePolicyConfig, simplify inference CLI#80
brentyi wants to merge 2 commits into
amazon-far:mainfrom
brentyi:brent/20260318_inference_cli_cleanup

Ruff, bump tyro

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