epoch,best,epoch_seconds,lr,train_contact,train_grad_norm,train_lr,train_position,train_root,train_rotation,train_sampling_probability,train_total,train_velocity,val_contact,val_position,val_retrieval_gain,val_rollout_retrieval_gain,val_rollout_total,val_rollout_total_without_retrieval,val_root,val_rotation,val_total,val_total_without_retrieval,val_velocity
2,1.0,88.13955640792847,0.002,0.25716395662144315,1.2378289376346159,0.002,0.05129909374589371,7.267564929287198,0.18024396966320808,0.0,0.7944393430097562,0.5807133350224003,0.20483171590865495,0.04601484367602997,0.0,0.0,3.2823076844215393,3.2823076844215393,5.357435540536816,0.18929387126745803,0.71357018224309,0.71357018224309,0.5969776630066754
3,1.0,160.04861974716187,0.001998066401367933,0.2534702370389247,0.9358574781619328,0.001998066401367933,0.0545470935550514,4.279471953500044,0.1897548182119786,0.06153846153846154,0.7134565248595717,0.6754798384059764,0.21898784513423072,0.04619941408379694,0.0,0.0,2.2927466481924057,2.2927466481924057,2.1445357474718203,0.19604647159576416,0.5924665559543653,0.5924665559543653,0.6183322711607043
4,1.0,159.11903429031372,0.0019922370375700387,0.23358169423652367,0.9692578276558101,0.0019922370375700387,0.04606684751179017,2.384121527134533,0.1840045368167716,0.12307692307692308,0.5883416691576371,0.6077856014312153,0.2050917446979562,0.04142346649608585,0.0,0.0,1.809326633810997,1.809326633810997,1.377817922931039,0.19392236564936263,0.543258813324939,0.543258813324939,0.6030659323997711
5,1.0,159.51980590820312,0.001982535819675559,0.22188375334084876,0.943899606874851,0.001982535819675559,0.042767837009624415,1.7452538711644117,0.1782113630237154,0.18461538461538463,0.543195847404395,0.5913241476939877,0.18021653845822544,0.03958703985626108,0.0,0.0,1.7860054671764374,1.7860054671764374,1.1019812125838204,0.19355985589241714,0.5216669487149528,0.5216669487149528,0.591255555327019
6,1.0,160.1587643623352,0.001969002612069726,0.21221027101779208,0.9790198243279972,0.001969002612069726,0.04049894641735044,1.4156358337178476,0.17513412716383103,0.24615384615384617,0.5153684876334499,0.5734224529683309,0.18965081673434653,0.04029137239362417,0.0,0.0,1.4626129269599915,1.4626129269599915,0.925640183553267,0.19279242131147492,0.5137114364109682,0.5137114364109682,0.5858328983689962
7,1.0,159.50693821907043,0.0019516930256054566,0.20250240053124552,0.9803970717768155,0.0019516930256054566,0.038940942172888016,1.2449548727889574,0.17283551366956024,0.3076923076923077,0.49846717848184524,0.5621234431792872,0.18699646717868745,0.0404011398930563,0.0,0.0,1.2109116464853287,1.2109116464853287,0.832941189575731,0.19266013382525926,0.5085366358248036,0.5085366358248036,0.5827815070580901
8,0.0,157.87574338912964,0.0019306781890864268,0.2009722322680301,1.0403181118584575,0.0019306781890864268,0.038267824724491493,1.2448896425710596,0.171533395182079,0.36923076923076925,0.4956270140101652,0.5613532870868003,0.1965189919181775,0.038549363131770924,0.0,0.0,1.2130672112107277,1.2130672112107277,1.1366726819718822,0.1913380865635497,0.5173444252335624,0.5173444252335624,0.5808359789714385
9,1.0,157.63934564590454,0.0019060444569835619,0.1942105742014,0.9653594018148145,0.0019060444569835619,0.03751892409781475,1.1942639352290283,0.1700888881241212,0.4307692307692308,0.48871283457032955,0.5571898457379968,0.16408977699675337,0.03715010870541079,0.0,0.0,1.0616968274116516,1.0616968274116516,1.0915679231788336,0.19086929134438546,0.5072908810015475,0.5072908810015475,0.5745847310577885
10,1.0,158.4800853729248,0.0018778930545859912,0.18693876593535497,0.9818713764349619,0.0018778930545859912,0.03683749726698013,1.183715028941911,0.16881589654465795,0.49230769230769234,0.4844995888885758,0.5553148854786242,0.19521760842710567,0.039998989468545056,0.0,0.0,0.9722938910126686,0.9722938910126686,1.1774533591913374,0.18915553039379335,0.5183997723493683,0.5183997723493683,0.5784613503498978
11,0.0,157.68007731437683,0.0018463396620446233,0.1853152035654658,0.9777479038831773,0.0018463396620446233,0.036961758561747174,1.2529161030977545,0.16824765339004044,0.5538461538461539,0.48704610121362085,0.5556903231032018,0.18741189807083122,0.03692852958953113,0.0,0.0,0.9798892885446548,0.9798892885446548,1.1877289873160672,0.18882783393511612,0.5117708866515857,0.5117708866515857,0.5759909589973728
12,1.0,158.31807899475098,0.0018115139390175925,0.17777480667745563,0.8805104873269937,0.0018115139390175925,0.035822465482382146,1.253233184696923,0.1667865227575593,0.6153846153846154,0.48044692147785506,0.5482102597543331,0.17208749882803623,0.036217476712184005,0.0,0.0,0.8989872112870216,0.8989872112870216,1.2494187803750627,0.1882709020309234,0.5089383383145493,0.5089383383145493,0.569451927301589
13,1.0,158.39514589309692,0.0017735589918709104,0.17546544693620272,0.8153276688336206,0.0017735589918709104,0.03545848458585604,1.332006722548758,0.1661461408779095,0.676923076923077,0.4824697450153145,0.548664463727687,0.1667922815239957,0.03561623285660583,0.0,0.0,0.8726712688803673,0.8726712688803673,1.5359684195411338,0.1865029296513354,0.515942239024666,0.515942239024666,0.5637955029359024
14,1.0,159.4088945388794,0.001732630785623714,0.17208455596119165,0.8053796580979522,0.001732630785623714,0.03476020744936147,1.384352057892392,0.1652460186764108,0.7384615384615385,0.4820510993401209,0.5479447773084953,0.16627683793979414,0.03652758442200302,0.0,0.0,0.8478805273771286,0.8478805273771286,1.233949600310808,0.18507547358448587,0.5021933799379328,0.5021933799379328,0.5609615265988233
15,1.0,158.26721501350403,0.0016888975030545455,0.1732422914268545,0.8332815826498846,0.0016888975030545455,0.03456112580207732,1.5239509215377307,0.1649571303540552,0.8,0.48974114887311426,0.554717911940785,0.16009097504743447,0.036999376972069904,0.0,0.0,0.8190986886620522,0.8190986886620522,1.5284300577104761,0.18596848544110073,0.5177398119749648,0.5177398119749648,0.5668263761849885
16,0.0,158.61065340042114,0.001642538853602241,0.16726449354521125,0.8599401741800173,0.001642538853602241,0.03384912315266373,1.4428941266077784,0.1616403062438741,0.8,0.47919586251878965,0.5487411926749726,0.17858150206228948,0.034785254450326555,0.0,0.0,0.8629975765943527,0.8629975765943527,1.7755544118666917,0.17102797329425812,0.5077688308914056,0.5077688308914056,0.5557486270920614
17,1.0,159.86165165901184,0.0015937453349012995,0.16526081479491203,0.8416507614890175,0.0015937453349012995,0.030878368913777557,1.367587705733071,0.14388516275955476,0.8,0.445646764596863,0.5264665916771956,0.18080395863789103,0.03399067231862063,0.0,0.0,0.7741336300969124,0.7741336300969124,1.3048128418708116,0.16856104235970573,0.4800891203157018,0.4800891203157018,0.5435088919789604
18,1.0,159.42420291900635,0.00154271744998624,0.15951533671555945,0.900669192204453,0.00154271744998624,0.03039892031395799,1.3360723594264805,0.1426622333975745,0.8,0.4394870294791432,0.5198048081756198,0.18406330305544052,0.033434756811750066,0.0,0.0,0.7445555999875069,0.7445555999875069,1.4368242356884346,0.16689195626237419,0.4839566858966699,0.4839566858966699,0.5450810515478756
19,0.0,159.5238869190216,0.0014896648833816254,0.15864526405230933,0.9537633290872888,0.0014896648833816254,0.030157002091337815,1.2903334266143225,0.14186465035371937,0.8,0.4347775100682263,0.5153797789358756,0.19361345664587584,0.034570828247606086,0.0,0.0,0.7531956359744072,0.7531956359744072,1.779965315641982,0.1671460439984718,0.5014709495426564,0.5014709495426564,0.5444990473516872
20,0.0,157.87714672088623,0.001434805639463374,0.1510803162124655,0.9589229209322325,0.001434805639463374,0.029300998223009803,1.2349320980304843,0.14039983708813716,0.8,0.42609749923289664,0.5073659476679815,0.17434111461331125,0.03358066889844584,0.0,0.0,0.7485112547874451,0.7485112547874451,1.6824091291159726,0.16610911722933308,0.49193542860866935,0.49193542860866935,0.5422033247318161
21,1.0,157.32388353347778,0.0013783651466320167,0.14984369012549031,0.9325793935379512,0.0013783651466320167,0.02894501442728048,1.2204318348790557,0.13991134792146548,0.8,0.4235066039041734,0.5050654216831278,0.2029636020450382,0.03322190690911218,0.0,0.0,0.7357266694307327,0.7357266694307327,1.701894650968273,0.16589319488305723,0.4936529106638405,0.4936529106638405,0.5387280439392904
22,0.0,159.0198154449463,0.0013205753309790454,0.14720492055333556,0.9499424830288954,0.0013205753309790454,0.028652760659305145,1.1843699110505725,0.13925435504233333,0.8,0.4188792935699364,0.5000129651295747,0.20851629142639008,0.034322113196334145,0.0,0.0,0.8038890436291695,0.8038890436291695,1.5725874736737668,0.1660699434159847,0.4930762605050976,0.4930762605050976,0.5457899722825276
23,0.0,157.86591696739197,0.0012616736632528552,0.14254665607367883,1.0069629563971865,0.0012616736632528552,0.028206817971918506,1.1539716509306375,0.13851520076324123,0.8,0.4145410941660124,0.4967290845135568,0.20497259905226947,0.03314625509501843,0.0,0.0,0.7415504083037376,0.7415504083037376,1.4448763466952892,0.1653604269697425,0.48138136106930424,0.48138136106930424,0.5360925875687867
24,1.0,158.68711376190186,0.0012019021830405,0.1419038736117138,1.013810397873462,0.0012019021830405,0.02787450325408592,1.128075145080056,0.13771469684693735,0.8,0.41024747679770834,0.49141281948123183,0.1919960468860992,0.03214481502269091,0.0,0.0,0.7099030166864395,0.7099030166864395,1.600122024169129,0.16522884804211305,0.4849883903948109,0.4849883903948109,0.5364104298393378
25,0.0,158.75298500061035,0.0011415065041751153,0.13671823984510462,1.0967129454926146,0.0011415065041751153,0.027520185480760018,1.1128948406434396,0.1369847027243863,0.8,0.40657848714382994,0.487865127448185,0.19154640070288284,0.033380938421809274,0.0,0.0,0.7832792028784752,0.7832792028784752,2.049371034241794,0.16516719591081813,0.5080600129754356,0.5080600129754356,0.5424052207322603
26,1.0,158.05079865455627,0.0010807348054559917,0.13563854131900088,1.0038359899755935,0.0010807348054559917,0.02711549395599136,1.1004448325980998,0.13645142334307864,0.8,0.40428615945605606,0.4865306902659331,0.18918838658176487,0.03267783223745528,0.0,0.0,0.7047938704490662,0.7047938704490662,1.537634005372444,0.1643856003713072,0.48228044992082575,0.48228044992082575,0.5369606344552522
27,0.0,157.0673108100891,0.0010198368108286545,0.133760111336487,0.9855265158442824,0.0010198368108286545,0.026727936099427686,1.0741091881279654,0.13577630846573152,0.8,0.4003836239027865,0.4827160472881067,0.1868026972777116,0.032410534287101764,0.0,0.0,0.7445153892040253,0.7445153892040253,1.5865787327959295,0.16417319520135945,0.48182005795200217,0.48182005795200217,0.5320240563890907
28,0.0,157.59467434883118,0.000959062763215606,0.1287208744565226,0.9509532036076129,0.000959062763215606,0.02650609285846143,1.044822536094088,0.13516786169837897,0.8,0.3962218083546195,0.47841688294505846,0.17723807201752168,0.032175057326977174,0.0,0.0,0.7186671644449234,0.7186671644449234,1.4336279523506592,0.16349419516124084,0.47335311268152813,0.47335311268152813,0.5322333329849029
29,0.0,158.51941323280334,0.0008986623962144804,0.1279964786145329,1.0298516411736538,0.0008986623962144804,0.02622152699218809,1.0141412832647423,0.13447939123556088,0.8,0.3927204600522216,0.4755380330651019,0.1893641552194597,0.03173726795011022,0.0,0.0,0.7173708900809288,0.7173708900809288,1.5196291419227472,0.1633443996477663,0.4771287940191419,0.4771287940191419,0.5315910078836291
30,0.0,159.23642897605896,0.000838883907889124,0.12530466211093982,0.9872282964522849,0.000838883907889124,0.025832899456992395,1.0041992191417677,0.13377150994651194,0.8,0.3894664358365144,0.47192425578133046,0.1790579279356249,0.03199872548241964,0.0,0.0,0.7238863557577133,0.7238863557577133,1.4938318294085813,0.1635328879517116,0.4742696000618881,0.4742696000618881,0.527519047595142
31,1.0,159.20969343185425,0.000779972940870511,0.1229390037246595,0.938124482060822,0.000779972940870511,0.025443443634980162,0.9872433345222698,0.1331250622448787,0.8,0.386054493311985,0.46845401638130624,0.2163300232156023,0.032041972628637644,0.0,0.0,0.7022681310772896,0.7022681310772896,1.3290017337611553,0.162292311198256,0.4708064188448231,0.4708064188448231,0.5304924633060948
32,1.0,158.94134664535522,0.0007221715729584838,0.12132695555564524,0.9676485004279535,0.0007221715729584838,0.02526210607882117,0.9470332862345825,0.13238770138699685,0.8,0.3825337395002025,0.4666287246304499,0.18289906122679875,0.0320883836764633,0.0,0.0,0.6921053305268288,0.6921053305268288,1.6622934977660018,0.16198299473591066,0.48034243201941584,0.48034243201941584,0.5272829381937392
33,1.0,159.15070462226868,0.0006657173223721468,0.11796412689550102,1.107498413380323,0.0006657173223721468,0.024843795535465084,0.9396361673661802,0.1317146516147074,0.8,0.3794091117214149,0.46332417309564045,0.19776292947994734,0.031714852208669264,0.0,0.0,0.6825147494673729,0.6825147494673729,1.6717119478107838,0.16153686970807193,0.48088448000757883,0.48088448000757883,0.526459764898493
34,0.0,159.39917016029358,0.0006108421717365587,0.11604935131932088,0.9105468973027708,0.0006108421717365587,0.024551340247648705,0.9361535577287137,0.1311296475045558,0.8,0.3769001196107954,0.4600369300291012,0.1989303602695758,0.03172939726978206,0.0,0.0,0.6880353540182114,0.6880353540182114,1.4765053043204748,0.16196826920750435,0.4739056397020147,0.4739056397020147,0.5287225291635214
35,0.0,159.66583585739136,0.0005577716148163636,0.1135112681631611,1.0573849504542463,0.0005577716148163636,0.024286880192867188,0.9099368749649872,0.13058365657575816,0.8,0.37372472252644284,0.457582069254817,0.19600860297999062,0.031755028941323246,0.0,0.0,0.6903164312243462,0.6903164312243462,1.6068189857381114,0.16155630098969748,0.4774218348974592,0.4774218348974592,0.5246202470211501
36,0.0,160.08170223236084,0.000506723729913546,0.11113507970249359,0.9142691465050962,0.000506723729913546,0.024051810334930677,0.8772935330727851,0.13011281727485255,0.8,0.37028260780891903,0.45472569427859616,0.18635564269314867,0.03187209832366933,0.0,0.0,0.6915678754448891,0.6915678754448891,1.5067347589503512,0.16111478795496265,0.47222742371344834,0.47222742371344834,0.525444988286897
37,0.0,158.9097580909729,0.00045790828373690776,0.10850316423817839,0.8703979169818717,0.00045790828373690776,0.02371995554616054,0.8544769006575776,0.12955533302096134,0.8,0.3666661796575421,0.4509139180253369,0.18525188771505538,0.03092878757651602,0.0,0.0,0.6856854856014252,0.6856854856014252,1.4146459996700287,0.1607992495043894,0.4655545407466674,0.4655545407466674,0.5231895786657762
38,1.0,158.4485592842102,0.00041152586942566985,0.1069404926859367,0.8226977413249128,0.00041152586942566985,0.023635433191005053,0.8514022804761716,0.12925706405035206,0.8,0.36547945296400586,0.44953322193712136,0.19364600483814695,0.030801421470856398,0.0,0.0,0.6708121597766876,0.6708121597766876,1.3985234753469402,0.1609571080529288,0.4647015801976236,0.4647015801976236,0.520334456743819
39,0.0,159.45838856697083,0.00036776708226923284,0.10489721258691219,0.8081890036802337,0.00036776708226923284,0.023256629825670255,0.8346771154325333,0.12876037023786646,0.8,0.3624609920410483,0.44661480380755636,0.18450387607961682,0.031343239077021565,0.0,0.0,0.6792479008436203,0.6792479008436203,1.353480631715796,0.16041325283854196,0.46357921268163105,0.46357921268163105,0.5243742350447044
40,0.0,159.29507040977478,0.00032681173651025365,0.10218984327615707,0.7861336816644444,0.00032681173651025365,0.023040898292906967,0.8096488368623134,0.12843724611289625,0.8,0.3598152299722036,0.44473513443145396,0.18847603237340121,0.030763041374556134,0.0,0.0,0.6806906536221504,0.6806906536221504,1.3366571339998352,0.16032058318679251,0.4621632346946202,0.4621632346946202,0.5242707220356116
41,0.0,158.44001173973083,0.0002888281264493501,0.10125811861941653,0.7394819619230262,0.0002888281264493501,0.022894608875640404,0.798494386840874,0.12814891044522675,0.8,0.3581530664798239,0.44305008104149723,0.18475641979145283,0.030788281451115448,0.0,0.0,0.679206594824791,0.679206594824791,1.374069880233722,0.15941528289505605,0.461178948705116,0.461178948705116,0.5202459965863925
42,1.0,160.2275652885437,0.00025397233488772095,0.10118717150194265,0.7365649934385864,0.00025397233488772095,0.0227421497786199,0.7878895425040957,0.12786895372498203,0.8,0.35685460759160664,0.44213390357337645,0.1888213596264884,0.030684353888369677,0.0,0.0,0.668786309659481,0.668786309659481,1.381859204742346,0.1598421127608653,0.4626747460177775,0.4626747460177775,0.5217612683773041
43,0.0,157.30296993255615,0.00022238759174943664,0.09867589896710965,0.6744861641959965,0.00022238759174943664,0.022593242011334697,0.7754889921123433,0.12767907616817895,0.8,0.35494446306721145,0.4400554106618877,0.18852564624479312,0.030296158589673845,0.0,0.0,0.6706319451332092,0.6706319451332092,1.2631502349055215,0.15974166637726045,0.45603539200311294,0.45603539200311294,0.5193314466918453
44,0.0,156.89870142936707,0.00019420368551895876,0.09744254053210152,0.6908068371490693,0.00019420368551895876,0.02239536927322127,0.7682020655820068,0.12744398986999417,0.8,0.3534774235296697,0.4386517390119078,0.18968481401222223,0.030225442450368,0.0,0.0,0.6702368855476379,0.6702368855476379,1.1843512644258778,0.15951638057660522,0.452675873309039,0.452675873309039,0.5199937609474311
45,0.0,157.36855292320251,0.0001695364299124173,0.09586958830712686,0.6888298669331511,0.0001695364299124173,0.022284744285536763,0.7621727426287155,0.12715038533012074,0.8,0.35226563367765273,0.43769320922558297,0.18442544412375375,0.030475018608771012,0.0,0.0,0.6779364570975304,0.6779364570975304,1.2771141927563743,0.15978585300820597,0.45635014805900914,0.45635014805900914,0.5186932929111331
46,0.0,158.91451239585876,0.00014848718797420935,0.0946793828230349,0.6312572665057832,0.00014848718797420935,0.02220541913009865,0.7498312481971974,0.12706510337865407,0.8,0.3511380229337674,0.4368961382080132,0.19638826014092087,0.030559740981526588,0.0,0.0,0.6751162111759186,0.6751162111759186,1.1618490965848558,0.15943183189027765,0.45249202546108974,0.45249202546108974,0.518879331899493
47,1.0,157.68313241004944,0.00013114245555450717,0.09331093047758643,0.5917430534049379,0.00013114245555450717,0.022079418277796446,0.7460160524772366,0.12681365020118407,0.8,0.35000894243168723,0.43579240870867536,0.1925539876572432,0.030295294092110035,0.0,0.0,0.6677340939640999,0.6677340939640999,1.239851142918126,0.15903794447357736,0.45415249634324834,0.45415249634324834,0.517562822177169
48,0.0,155.97098112106323,0.00011757350587925654,0.09286736853249869,0.5796680321715807,0.00011757350587925654,0.02203934712274254,0.7407861752829081,0.12675484614403035,0.8,0.34951363357020093,0.43548439457103116,0.19354843101176444,0.030237414738100567,0.0,0.0,0.6695792973041534,0.6695792973041534,1.1398585840557398,0.1594432054945592,0.45086195093862125,0.45086195093862125,0.5192309877510821
49,0.0,157.10102820396423,0.00010783609667320372,0.09289991649243753,0.5861981365602341,0.00010783609667320372,0.02198333973983224,0.7334141334597493,0.1267429593723145,0.8,0.34868515762085084,0.43424625960594054,0.19621771978988742,0.030565821073865622,0.0,0.0,0.6720253452658653,0.6720253452658653,1.1621662418494063,0.15929041451282716,0.45316139030992314,0.45316139030992314,0.521292922202121
50,1.0,156.9501473903656,0.00010197024103944436,0.09240013790347487,0.5587723733673633,0.00010197024103944436,0.021899999412292606,0.7329795213652328,0.12652063976640993,0.8,0.3482635912481048,0.43427204204277253,0.19552032057891777,0.030126802581414747,0.0,0.0,0.6622752100229263,0.6622752100229263,1.179433533649766,0.15956292259559202,0.4525955985771136,0.4525955985771136,0.5189847710092416