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  "sources": {
    "scaling_curve": "https://github.com/Abecid/beckman-world/blob/4ce3893/docs/runs/spatial-20ep-progress.md",
    "native": "https://github.com/Abecid/beckman-world/blob/4ce3893/docs/runs/native-bridge-rt1-comparison.md",
    "method": "https://github.com/Abecid/beckman-world/blob/4ce3893/beckmann_world/visual.py"
  }
}
