RTP cannot stream MJPG video with G726/ulaw/mlaw audio

I'm trying to re-stream the stream from my IP camera (MJPG+G726), I have a file vlm.conf:

new cam1 broadcast enabled
setup cam1 input rtsp://admin:admin@192.168.0.164/0
setup cam1 output #rtp{mux=ts,sdp="rtsp://localhost:1234/cam1"}
control cam1 play

When I run vlc --vlm-conf vlm.conf, I get:

VLC media player 2.0.2 Twoflower (revision 2.0.2-9-gd1b4a63)
[0x10020a650] main libvlc: Running vlc with the default interface. Use 'cvlc' to use vlc without interface.
[0x102a00840] stream_out_rtp stream out: Consider passing --rtsp-host=IP on the command line instead.
[0x102a02080] main mux error: cannot add this stream
[0x102a00840] stream_out_rtp stream out error: cannot add this stream to the muxer
[0x10303f6f0] [Media: cam1] main decoder error: cannot create packetizer output (g726)
I can play and hear the stream fine with rtsp://admin:admin@192.168.0.164/0

I understand that mux=ts cannot mux G726 audio (or ulaw, mlaw) but my only options for #rtp are mux=ts, mux=ps or no mux. If I remove the mux option completely, then I get audio only and see this instead:

➜  vlc --vlm-conf vlm2.conf
VLC media player 2.0.2 Twoflower (revision 2.0.2-9-gd1b4a63)
[0x10020a650] main libvlc: Running vlc with the default interface. Use 'cvlc' to use vlc without interface.
[0x102a00800] stream_out_rtp stream out: Consider passing --rtsp-host=IP on the command line instead.
[0x102a00800] stream_out_rtp stream out error: cannot add this stream (unsupported codec: MJPG)
[0x10382faf0] [Media: cam1] main decoder error: cannot create packetizer output (MJPG)

Is there no way to stream MJPG+G.726 (or ulaw/mlaw) in VLC?