Tiredsheep commited on
Commit
96f7093
·
verified ·
1 Parent(s): 0f39888

Upload folder using huggingface_hub

Browse files
Files changed (36) hide show
  1. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd0/eval.csv +12 -0
  2. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd0/flags.json +1 -0
  3. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd0/params_1000000.pkl +3 -0
  4. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd0/train.csv +201 -0
  5. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd1/eval.csv +12 -0
  6. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd1/flags.json +1 -0
  7. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd1/params_1000000.pkl +3 -0
  8. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd1/train.csv +201 -0
  9. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd2/eval.csv +12 -0
  10. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd2/flags.json +1 -0
  11. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd2/params_1000000.pkl +3 -0
  12. pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd2/train.csv +201 -0
  13. pretrained_models/bc-loco/hopper-medium-v2/sd0/eval.csv +12 -0
  14. pretrained_models/bc-loco/hopper-medium-v2/sd0/flags.json +1 -0
  15. pretrained_models/bc-loco/hopper-medium-v2/sd0/params_1000000.pkl +3 -0
  16. pretrained_models/bc-loco/hopper-medium-v2/sd0/train.csv +201 -0
  17. pretrained_models/bc-loco/hopper-medium-v2/sd1/eval.csv +12 -0
  18. pretrained_models/bc-loco/hopper-medium-v2/sd1/flags.json +1 -0
  19. pretrained_models/bc-loco/hopper-medium-v2/sd1/params_1000000.pkl +3 -0
  20. pretrained_models/bc-loco/hopper-medium-v2/sd1/train.csv +201 -0
  21. pretrained_models/bc-loco/hopper-medium-v2/sd2/eval.csv +12 -0
  22. pretrained_models/bc-loco/hopper-medium-v2/sd2/flags.json +1 -0
  23. pretrained_models/bc-loco/hopper-medium-v2/sd2/params_1000000.pkl +3 -0
  24. pretrained_models/bc-loco/hopper-medium-v2/sd2/train.csv +201 -0
  25. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd0/eval.csv +12 -0
  26. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd0/flags.json +1 -0
  27. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd0/params_1000000.pkl +3 -0
  28. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd0/train.csv +201 -0
  29. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd1/eval.csv +12 -0
  30. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd1/flags.json +1 -0
  31. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd1/params_1000000.pkl +3 -0
  32. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd1/train.csv +201 -0
  33. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd2/eval.csv +12 -0
  34. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd2/flags.json +1 -0
  35. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd2/params_1000000.pkl +3 -0
  36. pretrained_models/bc-loco/walker2d-medium-replay-v2/sd2/train.csv +201 -0
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd0/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/reward_run,evaluation/reward_ctrl,evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ -0.01420715018703489,-0.013403093367815016,10500.0,-0.027610243554849905,16.305952890548635,1000.0,0.8007712364196777,2.3880840301452606,1
3
+ 5.464096852729767,-0.39376444816589357,30500.0,5.070332404563875,5138.829653246366,1000.0,0.7545029044151306,43.64825208529852,100000
4
+ 6.914906192939725,-0.4063889360427856,50500.0,6.50851725689694,5505.5675711297035,1000.0,0.7723526239395142,46.60219998465375,200000
5
+ 5.50929214454419,-0.3925751267373562,70500.0,5.116717017806835,4898.912367363557,1000.0,0.7517603158950805,41.71580079489779,300000
6
+ 7.413561720317659,-0.3984937596321106,90500.0,7.015067960685551,5866.169982528242,1000.0,0.7655113935470581,49.506728487735884,400000
7
+ 6.708488360054105,-0.39316441655158996,110500.0,6.315323943502515,5689.039031810667,1000.0,0.7657559394836426,48.07999955061676,500000
8
+ 6.394803569106784,-0.3694597929716111,130500.0,6.0253437761351725,5540.36794299788,1000.0,0.7664257645606994,46.88250502093168,600000
9
+ 7.70798722199811,-0.3868272268772125,150500.0,7.321159995120898,6736.45276982034,1000.0,0.7676358699798584,56.51655726738311,700000
10
+ 6.132496305530992,-0.4135288369655609,170500.0,5.71896746856543,5326.232070674254,1000.0,0.7538156151771546,45.157714156987815,800000
11
+ 6.5973205449915895,-0.3811148238182068,190500.0,6.216205721173382,5537.248841646533,1000.0,0.7620105862617492,46.8573817314233,900000
12
+ 5.738875197477427,-0.38212844908237453,210500.0,5.356746748395052,5367.905268668058,1000.0,0.7446477532386779,45.49337744586643,1000000
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd0/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 0, "env_name": "halfcheetah-medium-expert-v2", "save_dir": "exp/bc-loco/halfcheetah-medium-expert-v2/20260823_033015_sd0", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd0/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1d6fff5edf2f4ff1aa0bf59f49d91e7999425d9cc105b7362f216d55e643f973
3
+ size 896500
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd0/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -5.2567773,5.2567773,0.053988956,2.8144135,-2.631411,41.34861,0.004751719665527344,23.758601665496826,5000
3
+ -5.5800085,5.5800085,0.06594679,2.644443,-2.3721728,36.510025,0.0005584674835205078,26.550942182540894,10000
4
+ -5.7338343,5.7338343,0.038237706,2.2916481,-2.591402,36.548767,0.0005557244300842285,29.329567193984985,15000
5
+ -5.425663,5.425663,0.042942517,2.3209245,-2.4530356,41.124683,0.0005501297950744629,32.080219745635986,20000
6
+ -6.0470896,6.0470896,0.035092264,5.0633154,-4.726137,42.995743,0.0005546973705291748,34.853710412979126,25000
7
+ -6.034706,6.034706,0.039621033,4.058464,-5.3927627,46.501442,0.0005654918193817138,37.681172609329224,30000
8
+ -6.059057,6.059057,0.036046512,6.0099754,-5.1467295,50.40104,0.0005780914306640625,40.571632862091064,35000
9
+ -5.9537525,5.9537525,0.040186748,6.818717,-6.478494,69.57362,0.0005704487323760987,43.42388033866882,40000
10
+ -6.2740746,6.2740746,0.033014573,6.6288304,-6.3296967,63.25603,0.0005618989944458008,46.233378410339355,45000
11
+ -6.343883,6.343883,0.039347105,9.711218,-11.283013,90.39806,0.0005477246284484864,48.972004890441895,50000
12
+ -5.912857,5.912857,0.037469916,2.7333698,-2.730663,34.90884,0.0005461849212646485,51.702932357788086,55000
13
+ -6.311896,6.311896,0.04028786,3.846629,-4.656404,42.036713,0.000548209285736084,54.443981885910034,60000
14
+ -6.2895536,6.2895536,0.0370076,4.712585,-6.0899167,50.316647,0.0005555479526519776,57.221726417541504,65000
15
+ -6.0893974,6.0893974,0.038373757,2.7522674,-2.7193036,35.194336,0.0005723802566528321,60.08363056182861,70000
16
+ -6.681934,6.681934,0.027423767,9.426682,-9.251402,69.60259,0.0005775453567504883,62.97136092185974,75000
17
+ -6.544412,6.544412,0.027512161,2.0168376,-1.8259326,27.830547,0.0005595645904541015,65.76918697357178,80000
18
+ -6.143605,6.143605,0.035385616,3.716303,-4.217959,35.923218,0.000566314697265625,68.60076355934143,85000
19
+ -6.324651,6.324651,0.041415703,3.8996909,-3.7212977,48.60044,0.0005578368186950684,71.38995027542114,90000
20
+ -6.326483,6.326483,0.031655043,3.7979398,-3.917305,38.13709,0.0005487406730651855,74.13365745544434,95000
21
+ -5.9751787,5.9751787,0.040514,4.2167344,-2.9617572,36.67935,0.0005629562854766846,76.94844222068787,100000
22
+ -6.1398973,6.1398973,0.037019026,8.428237,-7.022538,57.88203,0.0036132278442382814,95.01458406448364,105000
23
+ -6.310191,6.310191,0.035797387,5.464601,-5.4184318,47.36222,0.0005654596328735352,97.84188556671143,110000
24
+ -6.721492,6.721492,0.02999574,3.6945207,-3.607445,37.677032,0.0005879540920257568,100.78166937828064,115000
25
+ -6.2663727,6.2663727,0.0327597,6.053572,-5.399533,48.137436,0.000582548189163208,103.69441485404968,120000
26
+ -6.4051094,6.4051094,0.03469434,4.904462,-4.791863,41.8042,0.0005809502124786377,106.59916877746582,125000
27
+ -6.1708336,6.1708336,0.032145385,3.2208388,-3.7936206,32.9069,0.0005585129737854003,109.39173698425293,130000
28
+ -6.3827386,6.3827386,0.03584645,2.4205327,-2.6013732,29.763247,0.0005704667091369629,112.24407315254211,135000
29
+ -6.325182,6.325182,0.0319119,4.044974,-3.360555,33.094147,0.0005561432838439941,115.02479267120361,140000
30
+ -6.466936,6.466936,0.032020614,4.7434936,-5.959638,42.879826,0.0005599724292755126,117.8246579170227,145000
31
+ -6.4786053,6.4786053,0.03523439,3.7707064,-3.243689,37.65577,0.0005833552837371826,120.74143743515015,150000
32
+ -6.632325,6.632325,0.033523034,7.6829214,-8.989356,55.699974,0.0005637551307678222,123.56021618843079,155000
33
+ -6.3450155,6.3450155,0.033124015,5.253484,-6.0087543,49.09943,0.000569960355758667,126.41002154350281,160000
34
+ -6.552828,6.552828,0.03036887,7.333698,-5.6914835,54.83476,0.0005543980121612549,129.18201518058777,165000
35
+ -6.322668,6.322668,0.031921092,7.4826946,-8.122339,52.00325,0.0005694501399993897,132.0292685031891,170000
36
+ -6.2511587,6.2511587,0.035118956,4.4131155,-3.244375,35.37438,0.0005913620471954345,134.98608231544495,175000
37
+ -6.656025,6.656025,0.032428615,5.267929,-5.628977,39.87037,0.0005687433242797851,137.82980251312256,180000
38
+ -6.3677673,6.3677673,0.03168185,2.2794502,-2.5444276,28.47158,0.0005840577125549316,140.75009679794312,185000
39
+ -6.1942754,6.1942754,0.039036673,2.9362655,-4.2212777,34.031723,0.000575102186203003,143.62561202049255,190000
40
+ -6.676864,6.676864,0.02647186,3.440369,-4.54626,35.50837,0.0005665902614593505,146.45856642723083,195000
41
+ -6.32714,6.32714,0.03536796,2.7172582,-2.354127,31.17215,0.0005603981018066406,149.26056003570557,200000
42
+ -6.726699,6.726699,0.026148109,3.3689725,-4.098061,33.798634,0.0036667025566101074,167.59407687187195,205000
43
+ -6.400403,6.400403,0.032287523,3.0843518,-3.424052,33.721405,0.0005728439331054687,170.4582998752594,210000
44
+ -6.4914474,6.4914474,0.030844143,15.538963,-14.468771,79.75571,0.0005698615074157715,173.30761098861694,215000
45
+ -6.4053574,6.4053574,0.029212533,17.323942,-16.280077,98.7109,0.0005778584480285644,176.19690680503845,220000
46
+ -6.34587,6.34587,0.029283695,2.6065543,-3.3820367,31.612022,0.0005744500637054444,179.06916046142578,225000
47
+ -6.807734,6.807734,0.030522544,2.8716185,-3.4215548,28.434296,0.0005732500553131104,181.93541407585144,230000
48
+ -6.1971593,6.1971593,0.02847251,3.916167,-3.7472541,29.985422,0.0005640328407287597,184.75558161735535,235000
49
+ -6.419527,6.419527,0.032375395,4.46966,-4.2567344,34.994877,0.0005724335670471191,187.61775302886963,240000
50
+ -6.2543263,6.2543263,0.030006096,5.360331,-4.4314547,37.609585,0.0005733344078063965,190.48442816734314,245000
51
+ -6.446294,6.446294,0.033692934,4.945316,-6.56237,40.607433,0.0005789340019226074,193.37910175323486,250000
52
+ -6.703426,6.703426,0.028757697,6.0643415,-7.1343803,45.68796,0.0005684999465942383,196.22160482406616,255000
53
+ -6.203168,6.203168,0.027518546,3.8657722,-2.49732,28.303167,0.0005602840900421143,199.02302861213684,260000
54
+ -6.939286,6.939286,0.026346644,4.0471063,-3.8271835,33.42746,0.0005585506439208985,201.81578469276428,265000
55
+ -6.6980753,6.6980753,0.027423449,6.7665453,-5.658372,46.912354,0.0005725857734680176,204.67871642112732,270000
56
+ -6.8676434,6.8676434,0.029364115,7.9583225,-8.285708,48.899975,0.0005853335380554199,207.60538721084595,275000
57
+ -6.6591463,6.6591463,0.026501134,6.9579773,-6.83939,46.930687,0.0005636865139007568,210.42382335662842,280000
58
+ -6.5930705,6.5930705,0.031033628,3.1672218,-4.927209,29.236906,0.0005900589942932129,213.3741216659546,285000
59
+ -6.3421597,6.3421597,0.037443407,4.5911407,-4.24314,33.53998,0.0005688141345977783,216.21819591522217,290000
60
+ -6.3827434,6.3827434,0.029800912,3.0121295,-2.990582,30.4337,0.0005717561721801758,219.076979637146,295000
61
+ -6.297578,6.297578,0.035693996,3.7441995,-2.8262208,28.914148,0.0005907966136932373,222.03096652030945,300000
62
+ -6.394614,6.394614,0.0345324,6.1634254,-5.773512,47.70114,0.0035771525859832763,239.91673302650452,305000
63
+ -6.8896914,6.8896914,0.029363167,4.041024,-4.5158076,29.859297,0.0005804099082946777,242.818785905838,310000
64
+ -6.5829763,6.5829763,0.030439598,5.1629543,-5.0877194,38.88211,0.0005725059509277344,245.68131923675537,315000
65
+ -6.1949444,6.1949444,0.03216484,4.42,-7.0991516,39.914482,0.0005702398777008056,248.53252267837524,320000
66
+ -6.4730587,6.4730587,0.041882776,3.4469242,-2.6477568,29.755146,0.0005650118827819824,251.3575849533081,325000
67
+ -6.942616,6.942616,0.030373683,6.484164,-6.409651,42.36062,0.0005668129444122314,254.19165325164795,330000
68
+ -6.471037,6.471037,0.0294182,8.190784,-4.659391,38.58502,0.0005735193252563477,257.05925393104553,335000
69
+ -6.714749,6.714749,0.026725784,2.6868763,-3.818779,30.603529,0.0005649947643280029,259.8842315673828,340000
70
+ -6.2311316,6.2311316,0.028742377,5.100962,-3.553617,31.411713,0.0005663813591003418,262.7161419391632,345000
71
+ -6.5940695,6.5940695,0.028560242,1.8053945,-2.0754013,24.168428,0.0005686599731445312,265.559445142746,350000
72
+ -6.6244135,6.6244135,0.031084185,6.805076,-3.6305285,38.044815,0.0005618889808654785,268.36889386177063,355000
73
+ -6.588481,6.588481,0.03249085,2.928911,-3.1571434,30.347546,0.0005625977516174317,271.18188643455505,360000
74
+ -6.6996236,6.6996236,0.030371694,2.980384,-3.0978172,24.053493,0.0005923795700073242,274.1437871456146,365000
75
+ -6.593816,6.593816,0.030995613,4.2345753,-4.1989274,32.11801,0.0005644832134246826,276.96620631217957,370000
76
+ -6.542004,6.542004,0.030514745,6.0513005,-5.4837613,32.16744,0.0005724545001983643,279.82848286628723,375000
77
+ -6.6654773,6.6654773,0.028174585,3.831558,-4.636002,29.169626,0.000577199125289917,282.7144818305969,380000
78
+ -6.523438,6.523438,0.031502735,8.644877,-9.826821,51.922142,0.0005700377941131591,285.56467390060425,385000
79
+ -6.5950313,6.5950313,0.02900898,6.9852066,-10.804331,43.964233,0.0005581290245056152,288.355322599411,390000
80
+ -6.5573435,6.5573435,0.037310787,2.3398552,-2.1206722,24.963842,0.0005823540210723877,291.2670958042145,395000
81
+ -6.394071,6.394071,0.03409105,3.1630728,-3.6115885,27.02858,0.0005711355209350586,294.12277722358704,400000
82
+ -6.294693,6.294693,0.027627703,3.569939,-2.9342186,24.772358,0.003628490734100342,312.2652339935303,405000
83
+ -6.9579506,6.9579506,0.027610987,2.6373267,-2.1816046,23.958542,0.0005812826633453369,315.1716504096985,410000
84
+ -6.1129627,6.1129627,0.03742325,2.938938,-3.8848283,31.782,0.0005943676948547363,318.1434917449951,415000
85
+ -6.572648,6.572648,0.028264876,4.896383,-3.707988,28.784527,0.0005775187969207764,321.0310888290405,420000
86
+ -7.0931234,7.0931234,0.026396878,3.0660982,-1.895667,24.22031,0.000563144063949585,323.84681272506714,425000
87
+ -6.5255814,6.5255814,0.033768177,2.8522975,-2.3136237,27.820616,0.0005708148002624511,326.7008900642395,430000
88
+ -6.2520695,6.2520695,0.029419832,2.4833362,-1.6057674,20.276543,0.0005778791427612305,329.5902888774872,435000
89
+ -6.2739706,6.2739706,0.036241576,4.0681405,-5.759803,35.92538,0.0005612284660339355,332.3964340686798,440000
90
+ -6.5946198,6.5946198,0.027032843,9.955023,-8.9012785,50.89146,0.0005643349647521973,335.2181122303009,445000
91
+ -6.738212,6.738212,0.030598883,2.8567998,-2.974184,27.125637,0.0005684792041778565,338.0605113506317,450000
92
+ -6.6682253,6.6682253,0.02977476,7.3437304,-9.044636,43.726727,0.0005675999641418457,340.89851427078247,455000
93
+ -6.4508967,6.4508967,0.037844405,5.148797,-5.287156,35.753384,0.0005735647678375244,343.76634216308594,460000
94
+ -6.7384105,6.7384105,0.029687002,2.4787078,-2.346966,25.502123,0.000567140531539917,346.60204815864563,465000
95
+ -6.657631,6.657631,0.030151598,2.3759382,-4.0284886,25.200863,0.000575317907333374,349.47864151000977,470000
96
+ -6.762933,6.762933,0.02970541,3.6094244,-2.1806917,26.062866,0.0005634276866912842,352.2957832813263,475000
97
+ -6.55267,6.55267,0.0278687,3.0355163,-3.4772263,26.540308,0.0005733982563018799,355.16277742385864,480000
98
+ -6.5568395,6.5568395,0.028898869,8.247207,-8.236407,46.12516,0.0005737441539764404,358.03150153160095,485000
99
+ -6.9249926,6.9249926,0.029192224,1.6744322,-2.537388,21.86028,0.0005621899604797364,360.84245443344116,490000
100
+ -6.4077673,6.4077673,0.032936525,5.0849066,-5.651069,40.018513,0.0005580600738525391,363.63275814056396,495000
101
+ -6.8291907,6.8291907,0.031020649,3.0838897,-3.7523837,25.692417,0.0005681969165802002,366.4737458229065,500000
102
+ -6.4139028,6.4139028,0.033326834,5.9287767,-6.5020924,35.080475,0.0036474071025848387,384.7107846736908,505000
103
+ -6.602988,6.602988,0.030054888,3.0814507,-2.4752772,26.669022,0.0005667963981628418,387.5447702407837,510000
104
+ -6.2707815,6.2707815,0.035348054,2.0174692,-3.310937,25.12402,0.0005762752056121827,390.42615008354187,515000
105
+ -6.7349725,6.7349725,0.031327814,4.1229362,-4.160639,26.873978,0.0005610737323760986,393.2315230369568,520000
106
+ -7.0032806,7.0032806,0.030126935,8.014642,-7.914161,41.91608,0.0005664205074310302,396.0636291503906,525000
107
+ -6.5067015,6.5067015,0.031037837,2.776128,-2.529596,23.991732,0.0005706727504730224,398.9169964790344,530000
108
+ -6.1800547,6.1800547,0.031597205,10.168037,-9.797889,44.485554,0.0005616574287414551,401.7252867221832,535000
109
+ -6.7956624,6.7956624,0.026145339,6.3016505,-7.1489615,37.015472,0.0005666101932525635,404.55834102630615,540000
110
+ -6.511418,6.511418,0.029642865,7.6051426,-7.048099,41.651306,0.000571989393234253,407.41829109191895,545000
111
+ -6.5006514,6.5006514,0.027748283,6.694266,-4.4957285,34.18199,0.0005727560520172119,410.28207421302795,550000
112
+ -6.953305,6.953305,0.025030872,5.5295496,-4.949332,37.038162,0.0005788056850433349,413.17610573768616,555000
113
+ -6.6844788,6.6844788,0.027607499,5.0773315,-5.2413816,32.10662,0.0005625893115997314,415.9890556335449,560000
114
+ -6.542672,6.542672,0.03528001,4.304521,-3.2612789,30.942558,0.0005608699321746826,418.793408870697,565000
115
+ -6.4157777,6.4157777,0.03024412,4.2131624,-3.7494557,28.70708,0.0005607654094696045,421.597238779068,570000
116
+ -6.818837,6.818837,0.02645807,6.8959746,-7.031036,41.828438,0.0005727206230163574,424.46084547042847,575000
117
+ -6.6537657,6.6537657,0.030823216,2.0121613,-1.8061692,22.130428,0.0005898146152496338,427.40992188453674,580000
118
+ -6.674491,6.674491,0.031118428,4.9077425,-5.167091,35.34339,0.0005612600326538086,430.2162256240845,585000
119
+ -6.5689507,6.5689507,0.029039262,2.8901536,-4.8662305,32.827976,0.0005703310966491699,433.0678849220276,590000
120
+ -6.145589,6.145589,0.032795154,9.898051,-10.47246,51.102253,0.0005752696514129638,435.94423627853394,595000
121
+ -6.617034,6.617034,0.02566602,2.1093926,-1.8834608,20.282959,0.0005669709205627442,438.7790939807892,600000
122
+ -6.308634,6.308634,0.034310278,5.5182924,-5.5143614,37.58081,0.0036459678649902343,457.0089373588562,605000
123
+ -7.112034,7.112034,0.028585259,4.2587214,-3.800658,28.133324,0.0005775011539459229,459.8964469432831,610000
124
+ -6.31902,6.31902,0.028425952,2.9468555,-2.6155913,25.989573,0.0005594974517822266,462.6939375400543,615000
125
+ -6.37234,6.37234,0.028060839,4.8926764,-4.155334,30.273012,0.0005702420711517334,465.5451514720917,620000
126
+ -6.346617,6.346617,0.032408655,4.9016213,-4.693083,32.632744,0.000574804162979126,468.41917538642883,625000
127
+ -6.5870237,6.5870237,0.030381259,4.53044,-4.4431357,27.865593,0.0005737959384918212,471.28815817832947,630000
128
+ -6.338752,6.338752,0.02677057,3.3363228,-2.7138014,24.281124,0.0005669106483459472,474.12271451950073,635000
129
+ -6.8118086,6.8118086,0.031142345,2.1881552,-2.520757,27.865383,0.0005711232185363769,476.9783341884613,640000
130
+ -6.8366385,6.8366385,0.029665604,2.2717252,-1.7949295,23.564186,0.0005742707252502442,479.8496904373169,645000
131
+ -6.563105,6.563105,0.030439286,1.4729215,-1.641542,20.700317,0.0005734346866607666,482.7168674468994,650000
132
+ -6.704179,6.704179,0.03540356,5.737833,-5.774384,37.752995,0.0005975316047668458,485.70452880859375,655000
133
+ -6.665697,6.665697,0.027767044,11.321739,-10.448058,54.777584,0.000584226942062378,488.62566614151,660000
134
+ -6.7756643,6.7756643,0.024575397,6.2781734,-5.953097,32.78244,0.0005720223903656006,491.4857816696167,665000
135
+ -6.53248,6.53248,0.030010816,3.1438732,-3.5294373,25.277317,0.000563939380645752,494.30548191070557,670000
136
+ -6.3074784,6.3074784,0.03371887,2.7053711,-4.119588,24.937956,0.0005619270324707031,497.11511969566345,675000
137
+ -6.703861,6.703861,0.029600214,3.625433,-3.4097013,25.277061,0.000554195499420166,499.88610100746155,680000
138
+ -6.523281,6.523281,0.03160612,14.342177,-15.518317,65.94684,0.0005634885311126709,502.70354676246643,685000
139
+ -6.567121,6.567121,0.03424675,2.318586,-3.51447,25.84439,0.0005816804885864258,505.6119530200958,690000
140
+ -6.24607,6.24607,0.035259664,3.5578995,-3.103554,22.221348,0.0005781794548034668,508.502854347229,695000
141
+ -6.064883,6.064883,0.030365478,4.0383143,-5.5957084,36.485336,0.0005681719779968261,511.3437178134918,700000
142
+ -6.6214547,6.6214547,0.029768672,2.8298094,-3.752526,23.96339,0.0036427996158599854,529.557719707489,705000
143
+ -6.6162415,6.6162415,0.031893063,4.9085684,-5.095332,35.665543,0.0005779879093170166,532.4476668834686,710000
144
+ -6.3086624,6.3086624,0.03147339,3.8871567,-2.721752,29.623932,0.0005889848232269288,535.3925955295563,715000
145
+ -6.5300846,6.5300846,0.027210256,4.2444277,-3.9565637,29.04424,0.0005939425945281982,538.3623123168945,720000
146
+ -6.3631253,6.3631253,0.032903038,2.2049637,-3.1193018,22.517086,0.0005743370532989502,541.2339999675751,725000
147
+ -6.912065,6.912065,0.024195459,4.6708946,-4.6767187,25.83538,0.0005763503551483155,544.1157557964325,730000
148
+ -6.7417984,6.7417984,0.027174816,7.6511955,-8.768336,43.529667,0.000580366325378418,547.0175905227661,735000
149
+ -6.867114,6.867114,0.027547233,15.753346,-16.642069,75.42642,0.0005838027477264405,549.9366068840027,740000
150
+ -6.9622297,6.9622297,0.027210673,5.1949153,-5.5224423,31.294212,0.0005778595924377442,552.8259079456329,745000
151
+ -6.8168306,6.8168306,0.027709445,4.879807,-4.5801444,35.513565,0.0006051215171813965,555.8515198230743,750000
152
+ -6.563923,6.563923,0.028334856,2.1395807,-2.9464622,22.727951,0.0005929473876953125,558.8162608146667,755000
153
+ -6.8067493,6.8067493,0.028714277,5.1116133,-4.560447,29.389467,0.0005834298133850097,561.7334129810333,760000
154
+ -6.62134,6.62134,0.032306865,3.138259,-2.0769446,26.24579,0.0005932216167449951,564.6995239257812,765000
155
+ -6.6267524,6.6267524,0.03465737,3.1459708,-1.9652153,21.80057,0.0005743050575256348,567.5710530281067,770000
156
+ -6.5395103,6.5395103,0.030223083,8.751139,-8.588937,36.02086,0.0005827362537384033,570.4847378730774,775000
157
+ -6.473733,6.473733,0.029874846,4.3027997,-3.5643978,26.39009,0.0005770678043365479,573.3700819015503,780000
158
+ -6.540677,6.540677,0.02715437,3.3911183,-3.8546677,24.931602,0.0005885182857513427,576.3126766681671,785000
159
+ -5.9882317,5.9882317,0.039805956,6.676499,-6.076093,33.09427,0.0005877735137939453,579.251547574997,790000
160
+ -6.428774,6.428774,0.027495585,5.7150164,-5.3435407,29.750982,0.0005692646503448486,582.0978744029999,795000
161
+ -6.593478,6.593478,0.030598912,4.093321,-7.8496833,29.659796,0.0005765934467315673,584.9808449745178,800000
162
+ -6.446904,6.446904,0.037460342,2.9540362,-3.1425855,23.449253,0.003595035934448242,602.9560279846191,805000
163
+ -6.730034,6.730034,0.028333915,4.683447,-3.562604,25.645712,0.0005662402153015137,605.7872326374054,810000
164
+ -6.819541,6.819541,0.027770694,2.948833,-1.9488422,21.062567,0.0005687855720520019,608.6311643123627,815000
165
+ -6.6957483,6.6957483,0.028021347,2.5837677,-2.2290318,23.606287,0.0005678371906280517,611.4703538417816,820000
166
+ -6.7298565,6.7298565,0.031050902,8.065424,-7.836726,38.12125,0.0005649401187896729,614.2950575351715,825000
167
+ -6.5853252,6.5853252,0.031802054,2.437185,-2.2168057,20.37318,0.0005735609531402588,617.1628656387329,830000
168
+ -6.4747853,6.4747853,0.029209662,4.4960637,-4.355448,29.050447,0.0005821834564208985,620.0737862586975,835000
169
+ -6.2648745,6.2648745,0.029065892,2.632338,-1.601699,21.192871,0.0005766132831573486,622.9568560123444,840000
170
+ -6.324964,6.324964,0.029790817,4.3307867,-4.169539,31.658634,0.0005795782566070557,625.8547508716583,845000
171
+ -6.567412,6.567412,0.029957479,3.6007311,-3.1994257,23.896263,0.0005896145343780517,628.8028271198273,850000
172
+ -6.4289885,6.4289885,0.031403553,4.991159,-4.617124,31.359028,0.0005950642108917236,631.7781507968903,855000
173
+ -6.416253,6.416253,0.033986967,2.2299263,-2.1830916,21.164167,0.0005677372932434082,634.616840839386,860000
174
+ -6.699208,6.699208,0.029440671,6.79252,-6.9415207,35.207684,0.0005599231243133545,637.4164597988129,865000
175
+ -6.66467,6.66467,0.027330786,2.205418,-2.1743011,20.992634,0.0005868197917938232,640.3505613803864,870000
176
+ -6.791138,6.791138,0.029712897,2.98859,-4.290263,30.377642,0.000573235559463501,643.216742515564,875000
177
+ -6.58543,6.58543,0.024781138,4.438977,-4.7684436,29.463915,0.0005730920791625977,646.0822060108185,880000
178
+ -6.5607815,6.5607815,0.026881417,2.0448904,-2.6690314,26.641066,0.0005691514492034912,648.9279673099518,885000
179
+ -6.8576484,6.8576484,0.0269975,2.5643473,-2.647604,24.954828,0.0005761682510375977,651.8088119029999,890000
180
+ -6.3131533,6.3131533,0.026803318,2.7616873,-2.3221762,21.517214,0.0005754522323608398,654.6860761642456,895000
181
+ -6.5068326,6.5068326,0.028263567,3.0950751,-3.1041722,21.85402,0.0005649734497070312,657.5109469890594,900000
182
+ -6.2663584,6.2663584,0.03282369,5.642794,-4.815994,28.693493,0.003627493667602539,675.6484186649323,905000
183
+ -6.5688744,6.5688744,0.03316156,4.7482266,-4.4521985,32.53993,0.000577287244796753,678.5348589420319,910000
184
+ -6.40529,6.40529,0.03216005,3.9601433,-5.927609,25.932852,0.0005869911193847657,681.469818353653,915000
185
+ -6.3056192,6.3056192,0.033329852,9.294319,-8.788566,40.641384,0.0005723296642303467,684.3314702510834,920000
186
+ -6.2906,6.2906,0.03149189,7.065536,-6.732691,33.33713,0.0005697166442871094,687.1800575256348,925000
187
+ -6.756736,6.756736,0.029209038,5.5290174,-5.384644,29.247332,0.0005769280433654785,690.0647008419037,930000
188
+ -6.8689833,6.8689833,0.026083922,2.6093144,-2.137681,23.0148,0.0005980417728424073,693.0549137592316,935000
189
+ -6.4636383,6.4636383,0.029839998,2.868584,-3.1272564,27.645056,0.0005638305187225342,695.8740701675415,940000
190
+ -6.7320113,6.7320113,0.023414008,2.1214886,-1.908433,21.163801,0.0005677171230316162,698.712660074234,945000
191
+ -6.628545,6.628545,0.03118225,14.656033,-14.169215,61.8906,0.0005670307159423828,701.5478177070618,950000
192
+ -6.683301,6.683301,0.029820284,3.3754447,-2.126541,24.043165,0.0005742578983306885,704.4191105365753,955000
193
+ -6.6098413,6.6098413,0.03275703,3.9707446,-4.7923775,27.589369,0.0005759783267974853,707.2990064620972,960000
194
+ -6.4418826,6.4418826,0.031124096,4.3900375,-4.578623,29.086636,0.0005698811054229737,710.148416519165,965000
195
+ -5.9629197,5.9629197,0.03284879,2.0598292,-3.600618,25.33319,0.0005688519477844239,712.9926795959473,970000
196
+ -6.459193,6.459193,0.028787171,11.842262,-11.331296,50.14229,0.0005671892166137695,715.8286294937134,975000
197
+ -6.757963,6.757963,0.029604068,1.6358378,-2.3353448,19.027693,0.0005904128551483155,718.7806980609894,980000
198
+ -6.2556615,6.2556615,0.029204175,3.6582556,-3.7377455,22.60762,0.0005734928607940674,721.6481654644012,985000
199
+ -6.5135865,6.5135865,0.029326111,2.9517996,-2.7929244,23.8877,0.0005740248680114746,724.5182936191559,990000
200
+ -6.788234,6.788234,0.03609759,6.711384,-5.599407,35.68081,0.0005794381141662597,727.4154872894287,995000
201
+ -6.6333523,6.6333523,0.030837018,6.4737797,-5.655421,37.4455,0.0005712692737579346,730.2718377113342,1000000
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd1/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/reward_run,evaluation/reward_ctrl,evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ 0.03926862183584923,-0.008760967534035444,10500.0,0.03050765430181378,-26.712459972513688,1000.0,0.8083480000495911,2.0415854977768055,1
3
+ 6.056822156305202,-0.41363027572631844,30500.0,5.643191880578883,5203.837715623862,1000.0,0.7632336258888245,44.171869687780095,100000
4
+ 6.350831294411762,-0.3898587489128113,50500.0,5.96097254549895,5407.889980267526,1000.0,0.7819545269012451,45.815440557085665,200000
5
+ 7.5003246623493,-0.3907835984230042,70500.0,7.109541063926296,5993.855098201805,1000.0,0.7665756344795227,50.53518821559756,300000
6
+ 5.928983883797514,-0.36641364654526115,90500.0,5.562570237252253,5172.8780552542585,1000.0,0.7572263956069947,43.92250026276571,400000
7
+ 6.311234445982677,-0.41497761845588677,110500.0,5.89625682752679,5438.785555120749,1000.0,0.7604506134986877,46.06429379528854,500000
8
+ 5.495191815108541,-0.42010377764701845,130500.0,5.075088037461523,5083.484027913315,1000.0,0.7460268378257752,43.20246209272111,600000
9
+ 5.782026840301228,-0.39658754467964175,150500.0,5.385439295621586,5131.831631666619,1000.0,0.7606892466545105,43.59188542633824,700000
10
+ 7.076568864505532,-0.4103537225723267,170500.0,6.666215141933205,5960.298050297109,1000.0,0.7611528754234314,50.264897726578155,800000
11
+ 5.671403843371422,-0.38762007281184196,190500.0,5.28378377055958,5250.9905371612385,1000.0,0.783612596988678,44.551669461233885,900000
12
+ 5.949562162523648,-0.39407290935516365,210500.0,5.555489253168483,5383.342117349954,1000.0,0.7718755722045898,45.617715957138266,1000000
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd1/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 1, "env_name": "halfcheetah-medium-expert-v2", "save_dir": "exp/bc-loco/halfcheetah-medium-expert-v2/20260823_034315_sd1", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd1/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c12afd61cbc906c8488b72d7ce4672bd2889eca0af31a0df3e850aa1bb390a1
3
+ size 896500
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd1/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -5.2290645,5.2290645,0.05124235,2.8749921,-3.742769,42.65676,0.004827441024780273,24.137207746505737,5000
3
+ -5.6345224,5.6345224,0.045217924,5.070784,-5.3963494,52.404224,0.000575969123840332,27.017057418823242,10000
4
+ -6.063435,6.063435,0.045087628,3.296462,-2.1996357,42.03148,0.0005704314708709717,29.869218826293945,15000
5
+ -6.1880403,6.1880403,0.04227575,8.177693,-7.8328834,69.7722,0.0005624965667724609,32.68170475959778,20000
6
+ -5.628348,5.628348,0.040908255,4.29849,-3.9092522,40.871643,0.000563569974899292,35.49955916404724,25000
7
+ -6.072964,6.072964,0.037417028,5.204355,-5.366272,55.13553,0.0006062591075897217,38.53085803985596,30000
8
+ -5.797976,5.797976,0.03703101,4.4162025,-4.939214,48.702507,0.0005631811141967773,41.34676718711853,35000
9
+ -5.6065187,5.6065187,0.040835436,5.6160655,-3.5055423,46.745945,0.0005613901615142822,44.15372157096863,40000
10
+ -6.0072417,6.0072417,0.03551214,23.73103,-23.551374,166.54799,0.0005797342300415039,47.05239677429199,45000
11
+ -6.2323704,6.2323704,0.037835382,2.6637878,-2.4161677,36.33591,0.0005566476821899414,49.83563828468323,50000
12
+ -6.3604946,6.3604946,0.036243733,2.8359487,-3.2016227,35.924854,0.0005567962646484375,52.619622230529785,55000
13
+ -6.293337,6.293337,0.035354827,7.109106,-5.3853087,55.685238,0.0005578436851501465,55.40884447097778,60000
14
+ -6.0753765,6.0753765,0.03625945,12.845437,-10.7379875,81.10504,0.0005591450691223145,58.20457482337952,65000
15
+ -6.0302124,6.0302124,0.034165226,11.092327,-9.864631,75.11751,0.0005568196773529053,60.98867654800415,70000
16
+ -6.349336,6.349336,0.039689302,12.966514,-12.237455,90.38631,0.0005701082706451415,63.8392219543457,75000
17
+ -6.305373,6.305373,0.034126822,9.703018,-10.189294,67.45076,0.0005568145275115967,66.6232979297638,80000
18
+ -6.336814,6.336814,0.029952852,2.1248817,-2.8945267,32.191025,0.0005514070987701415,69.38033652305603,85000
19
+ -6.2862363,6.2862363,0.037057832,4.105504,-5.1302505,42.311413,0.0005684011459350586,72.22234630584717,90000
20
+ -6.235882,6.235882,0.03805462,8.651232,-9.066201,68.61648,0.0005551956176757813,74.99832773208618,95000
21
+ -6.2039757,6.2039757,0.040333387,3.6893954,-4.4916844,45.588726,0.0005658350467681885,77.82750678062439,100000
22
+ -6.3632255,6.3632255,0.03753834,4.282355,-3.8632927,39.357277,0.0036375134468078613,96.01507711410522,105000
23
+ -6.4305124,6.4305124,0.02784948,4.3064346,-3.2533028,39.320507,0.0005537873744964599,98.78401732444763,110000
24
+ -6.2839756,6.2839756,0.031274576,3.0227664,-2.9773254,34.04329,0.000590706205368042,101.73755192756653,115000
25
+ -6.182026,6.182026,0.03502921,2.291131,-2.2930415,30.304165,0.000585306453704834,104.66408824920654,120000
26
+ -6.531328,6.531328,0.029452085,6.1904664,-6.7166657,44.713806,0.0005745211124420166,107.5367021560669,125000
27
+ -6.8944564,6.8944564,0.02740011,4.9258523,-5.3920264,50.862137,0.0005810909748077392,110.44216251373291,130000
28
+ -6.599244,6.599244,0.039167505,4.3977137,-4.3701987,40.223423,0.0005689791679382324,113.28706192970276,135000
29
+ -6.2333393,6.2333393,0.037272524,11.068261,-12.878118,75.500824,0.0005760306358337402,116.1672191619873,140000
30
+ -6.669007,6.669007,0.029566538,10.771759,-10.343465,62.120235,0.000577896785736084,119.05670714378357,145000
31
+ -6.671035,6.671035,0.034217633,8.212238,-8.504571,48.499027,0.0005543486595153809,121.82845401763916,150000
32
+ -6.305626,6.305626,0.03428725,2.5510824,-3.6656396,31.211813,0.0005796371936798095,124.72664332389832,155000
33
+ -6.442591,6.442591,0.033186972,2.257324,-2.3695688,28.915812,0.0005685444355010987,127.56936883926392,160000
34
+ -6.516968,6.516968,0.031457733,9.207087,-10.340467,60.97414,0.0005806334018707276,130.47253894805908,165000
35
+ -6.2071114,6.2071114,0.03799162,4.5881085,-5.1916447,39.650784,0.0005627104282379151,133.28609442710876,170000
36
+ -6.294859,6.294859,0.03395761,9.462586,-9.622223,56.58078,0.0005738021850585938,136.15510892868042,175000
37
+ -6.5080237,6.5080237,0.035177045,3.117481,-3.6292183,31.227041,0.0005614566802978516,138.96239590644836,180000
38
+ -6.407404,6.407404,0.029006965,2.2582521,-3.057725,33.140816,0.0005746158599853516,141.83547806739807,185000
39
+ -6.1456366,6.1456366,0.031470593,4.7151623,-4.6530485,38.8266,0.0005875824928283692,144.77339506149292,190000
40
+ -6.785206,6.785206,0.033917986,6.877142,-8.557069,59.47847,0.0005723235607147216,147.63501596450806,195000
41
+ -6.5039797,6.5039797,0.03292083,2.0382442,-1.7549478,25.334108,0.0005774834632873535,150.52243781089783,200000
42
+ -6.155996,6.155996,0.030675959,4.321191,-3.93436,43.815514,0.0037090384483337404,169.06763339042664,205000
43
+ -6.2398896,6.2398896,0.031044826,5.6455226,-3.9189205,32.75847,0.0005830843448638916,171.98305869102478,210000
44
+ -6.569976,6.569976,0.029717505,2.4270833,-3.4012675,30.68466,0.0005846787452697754,174.90645694732666,215000
45
+ -6.6067457,6.6067457,0.03288816,2.5313156,-2.5642467,31.715633,0.0005752999305725098,177.78296065330505,220000
46
+ -6.859156,6.859156,0.027314667,4.2351832,-4.2484083,35.43154,0.0005827970027923584,180.6969485282898,225000
47
+ -6.113106,6.113106,0.033739593,3.7569635,-3.2753546,34.305737,0.0005789552211761474,183.59172821044922,230000
48
+ -6.9191284,6.9191284,0.02960749,7.406328,-7.019163,52.172874,0.000565977430343628,186.42161965370178,235000
49
+ -6.189422,6.189422,0.032577302,8.73958,-8.361373,53.363636,0.0005885450363159179,189.36434769630432,240000
50
+ -6.234064,6.234064,0.035498977,6.5827293,-6.8282876,43.654076,0.0005626014709472656,192.17735815048218,245000
51
+ -6.5922837,6.5922837,0.028944803,4.0293574,-4.06449,37.15124,0.0005769976615905762,195.06234979629517,250000
52
+ -6.5676694,6.5676694,0.032234203,2.5855384,-4.173498,30.63255,0.0005732120037078857,197.92841291427612,255000
53
+ -6.3912797,6.3912797,0.027198954,3.8763638,-4.8159986,31.764591,0.0005855011940002441,200.85592198371887,260000
54
+ -6.214042,6.214042,0.038418934,2.6850886,-2.9572155,27.163923,0.0005752093315124512,203.73197269439697,265000
55
+ -6.2943764,6.2943764,0.03300073,5.1530805,-3.9928477,28.95,0.0005706804752349853,206.58537817001343,270000
56
+ -6.2717605,6.2717605,0.027370071,3.865714,-4.2446494,37.9373,0.0005808154582977295,209.4894585609436,275000
57
+ -6.410117,6.410117,0.029861938,2.1926992,-2.1982734,26.046135,0.0005791421890258789,212.38517212867737,280000
58
+ -6.618403,6.618403,0.0332762,13.417504,-12.690072,78.40731,0.0005819019317626953,215.2946856021881,285000
59
+ -6.670309,6.670309,0.03743456,5.4851227,-5.521426,34.396866,0.0005674313545227051,218.13184666633606,290000
60
+ -6.389928,6.389928,0.036369078,5.368628,-4.1461277,29.282381,0.0006083391189575196,221.17354583740234,295000
61
+ -6.344168,6.344168,0.03494039,2.0500553,-2.8406897,26.436497,0.000590371561050415,224.1254072189331,300000
62
+ -6.5331297,6.5331297,0.03116354,3.0777729,-2.761275,27.308073,0.0036730205059051515,242.4905128479004,305000
63
+ -6.7499285,6.7499285,0.027132666,4.491557,-5.6117487,38.541798,0.0005696343898773193,245.33868789672852,310000
64
+ -6.7506065,6.7506065,0.032359444,4.634081,-4.2497687,32.47383,0.0005817020416259766,248.2472014427185,315000
65
+ -6.508068,6.508068,0.026853323,4.085916,-4.2018824,33.009308,0.0005697356700897217,251.09588265419006,320000
66
+ -6.599228,6.599228,0.029782496,7.7144976,-7.987286,47.307518,0.0005677431106567383,253.93460059165955,325000
67
+ -6.8258343,6.8258343,0.029507827,4.5528936,-4.165722,37.46165,0.0005731067180633545,256.8001368045807,330000
68
+ -6.5241632,6.5241632,0.033413067,4.0325217,-4.5030637,35.86904,0.0005655162334442139,259.6277205944061,335000
69
+ -6.808012,6.808012,0.030151797,4.0718894,-3.8331594,34.96863,0.0005880646705627441,262.5680470466614,340000
70
+ -6.6734357,6.6734357,0.0358887,8.3196745,-7.177614,47.84833,0.0005773287773132324,265.4546937942505,345000
71
+ -6.8228016,6.8228016,0.034180965,4.611811,-5.003122,40.000233,0.0005656833648681641,268.28311347961426,350000
72
+ -6.8705626,6.8705626,0.02722317,4.7160854,-4.120852,32.2456,0.0005893242359161377,271.2297420501709,355000
73
+ -6.418865,6.418865,0.034535073,5.034824,-5.049764,36.30619,0.000575856876373291,274.1090302467346,360000
74
+ -6.3951893,6.3951893,0.028492756,2.9618633,-2.7306013,29.892672,0.0005653609752655029,276.9358377456665,365000
75
+ -6.5323596,6.5323596,0.027835295,2.12961,-1.7602632,20.782207,0.0005723855495452881,279.7977685928345,370000
76
+ -6.9184637,6.9184637,0.028981244,1.8461443,-2.158406,23.664368,0.0005804027557373047,282.6997857093811,375000
77
+ -6.4139066,6.4139066,0.031337865,3.8895533,-3.3238823,26.94756,0.0005956959247589111,285.67826890945435,380000
78
+ -6.59811,6.59811,0.033243444,3.7091534,-3.3798232,30.420238,0.0005933375835418701,288.6449601650238,385000
79
+ -6.757324,6.757324,0.026332524,10.38403,-9.395361,58.373066,0.0005788114547729493,291.5390205383301,390000
80
+ -6.4256716,6.4256716,0.035071082,5.8904195,-6.6666007,40.225212,0.0005722460746765137,294.40025448799133,395000
81
+ -6.235239,6.235239,0.035658922,5.01987,-4.72115,36.361145,0.0005803949356079102,297.3022322654724,400000
82
+ -6.3958793,6.3958793,0.029986497,1.9873706,-1.7783206,22.575863,0.00360768985748291,315.3406858444214,405000
83
+ -6.732159,6.732159,0.030184653,2.9173832,-2.1628706,27.74532,0.0005651356220245362,318.1663670539856,410000
84
+ -6.3196316,6.3196316,0.028288703,9.040968,-8.664895,50.363586,0.0005626314163208008,320.97952699661255,415000
85
+ -6.6602063,6.6602063,0.03177664,1.9501352,-2.2967494,24.80616,0.0005910715103149414,323.93489050865173,420000
86
+ -6.725517,6.725517,0.032735806,2.4762816,-1.5684912,20.388288,0.0005639739036560059,326.75476336479187,425000
87
+ -6.066807,6.066807,0.035237603,2.3224835,-3.236538,24.929092,0.0005717403411865234,329.61346793174744,430000
88
+ -7.097568,7.097568,0.027440544,3.008194,-2.475957,25.319868,0.0005748868942260742,332.48790550231934,435000
89
+ -7.11318,7.11318,0.028178025,1.9495559,-2.0193412,23.65821,0.0005653053760528565,335.3144359588623,440000
90
+ -6.383559,6.383559,0.03615524,2.9434493,-2.7522757,28.2692,0.0005888976573944092,338.25892758369446,445000
91
+ -6.784456,6.784456,0.029709045,5.5305843,-5.661888,40.34685,0.0005752125740051269,341.13499331474304,450000
92
+ -6.4354663,6.4354663,0.03417167,5.826612,-7.3330317,46.032326,0.0005800070762634278,344.0350320339203,455000
93
+ -6.9721117,6.9721117,0.03173177,2.1804888,-2.976883,25.448753,0.0005703905582427978,346.8869881629944,460000
94
+ -6.376422,6.376422,0.032658532,1.7071702,-1.5617777,21.854727,0.0006092729568481446,349.93335700035095,465000
95
+ -6.756113,6.756113,0.031931296,3.7170427,-3.4002547,27.39126,0.0005629106521606445,352.7479135990143,470000
96
+ -6.533834,6.533834,0.027234439,5.238651,-4.680064,40.37876,0.0005842212200164795,355.66902232170105,475000
97
+ -6.5997143,6.5997143,0.031037956,4.138169,-3.571031,34.92091,0.0005701484680175782,358.5197684764862,480000
98
+ -6.7602916,6.7602916,0.031195119,3.7136452,-2.4507315,24.389261,0.0005703846931457519,361.3716950416565,485000
99
+ -6.416251,6.416251,0.02803706,1.6662692,-2.3032606,22.800129,0.0005725076675415039,364.2342369556427,490000
100
+ -6.737395,6.737395,0.03204848,2.5381076,-2.5913372,26.419436,0.0005765664577484131,367.11707305908203,495000
101
+ -6.6620803,6.6620803,0.026076375,2.7879505,-2.9201784,27.832148,0.0005724365234375,369.97925877571106,500000
102
+ -6.4422536,6.4422536,0.033468507,1.7114223,-2.1192608,22.477095,0.0036263426780700683,388.1109776496887,505000
103
+ -6.678695,6.678695,0.028350567,1.5821522,-1.5296088,22.07608,0.0005635242938995361,390.9286024570465,510000
104
+ -6.457217,6.457217,0.03175369,1.7881548,-2.2312112,23.432465,0.000589051103591919,393.8738622665405,515000
105
+ -6.5213394,6.5213394,0.031486187,8.019181,-7.2842155,50.87125,0.000571329927444458,396.73051595687866,520000
106
+ -6.8212633,6.8212633,0.025817916,2.348711,-3.451492,21.673483,0.000572020673751831,399.5906231403351,525000
107
+ -6.9544163,6.9544163,0.030670743,1.9731872,-2.2046795,23.337576,0.0005942142963409424,402.56169843673706,530000
108
+ -6.047125,6.047125,0.034590986,3.459749,-3.2754955,29.055496,0.0005774735927581787,405.4490694999695,535000
109
+ -6.519128,6.519128,0.031265438,1.883147,-2.101539,23.668152,0.0005696214199066162,408.29718017578125,540000
110
+ -6.4125624,6.4125624,0.031643502,3.3575575,-3.692337,29.895357,0.0005882954597473144,411.23866176605225,545000
111
+ -6.748095,6.748095,0.027734842,2.4639711,-3.2543483,25.572266,0.0005966525077819824,414.22192907333374,550000
112
+ -6.2968717,6.2968717,0.032074437,4.504051,-2.8112628,29.712284,0.0005812662124633789,417.12826323509216,555000
113
+ -6.622096,6.622096,0.028893035,3.63939,-3.0823784,25.673788,0.0005845949649810791,420.0512409210205,560000
114
+ -6.714307,6.714307,0.031183746,2.2772756,-2.300539,23.362492,0.0005772080421447754,422.93728518486023,565000
115
+ -6.782795,6.782795,0.026693746,5.5558467,-7.743912,38.149284,0.0005855357646942139,425.86496782302856,570000
116
+ -6.51768,6.51768,0.027288286,3.4373312,-2.845407,28.989132,0.0005704588413238525,428.7172656059265,575000
117
+ -6.50704,6.50704,0.029110532,2.4328587,-2.2567518,23.998323,0.000577912187576294,431.60683035850525,580000
118
+ -6.7509975,6.7509975,0.028320631,1.7121581,-2.2960184,26.245451,0.0005859181880950927,434.5364248752594,585000
119
+ -6.3903866,6.3903866,0.029538315,3.8247511,-2.8598888,28.29093,0.0005645706176757812,437.35928297042847,590000
120
+ -6.1209764,6.1209764,0.034903318,3.9200482,-2.137182,27.433605,0.0005829537391662598,440.2740545272827,595000
121
+ -6.488818,6.488818,0.031276193,4.2514887,-3.329016,31.373138,0.0005612618923187256,443.0803678035736,600000
122
+ -6.630345,6.630345,0.02796196,4.558979,-5.3341355,33.835007,0.0035656327247619627,460.9085342884064,605000
123
+ -6.2265673,6.2265673,0.031698577,2.6174939,-2.980895,26.607174,0.0005817228317260742,463.81715202331543,610000
124
+ -6.6712046,6.6712046,0.029515788,3.186332,-2.9025013,26.708645,0.0005920960903167725,466.777636051178,615000
125
+ -6.6159716,6.6159716,0.029613849,1.8018551,-2.6111772,22.459951,0.0005808631420135498,469.6819546222687,620000
126
+ -6.374202,6.374202,0.02741183,3.0799394,-3.2210286,24.640896,0.0005772314071655273,472.5681142807007,625000
127
+ -6.6100817,6.6100817,0.031256583,3.060078,-2.7104144,25.315125,0.0005953802108764648,475.5450186729431,630000
128
+ -6.5861855,6.5861855,0.027309416,2.4872878,-2.5315478,23.44854,0.0005707886219024659,478.39896535873413,635000
129
+ -6.817342,6.817342,0.030310905,3.8329155,-2.337888,26.90938,0.0005810031414031983,481.30398440361023,640000
130
+ -6.6549354,6.6549354,0.028760847,3.305148,-2.9177282,26.09303,0.0005729076862335205,484.1685264110565,645000
131
+ -7.1328917,7.1328917,0.027809966,4.765912,-5.7836695,36.91346,0.00059569730758667,487.14701652526855,650000
132
+ -6.4001503,6.4001503,0.029754259,6.133476,-6.8639593,41.571854,0.0005834388732910156,490.06421422958374,655000
133
+ -6.6096897,6.6096897,0.036502197,2.884675,-3.297849,27.653185,0.0005715474605560303,492.92195415496826,660000
134
+ -6.5551796,6.5551796,0.029955834,5.8000975,-6.3026175,37.959396,0.000580906867980957,495.82649207115173,665000
135
+ -6.960415,6.960415,0.025395451,6.6164455,-6.654603,35.1723,0.0005816677570343018,498.73483443260193,670000
136
+ -6.5117702,6.5117702,0.030369367,1.3940922,-2.072785,20.871595,0.0005772101879119873,501.620888710022,675000
137
+ -6.3518305,6.3518305,0.0342603,3.5832493,-3.6391792,22.963528,0.0005751550674438476,504.49666714668274,680000
138
+ -6.21745,6.21745,0.03261953,2.7524478,-2.924196,27.410353,0.0005635206222534179,507.3142728805542,685000
139
+ -6.318136,6.318136,0.0326451,3.570374,-3.6380124,33.429306,0.0005642856597900391,510.13570404052734,690000
140
+ -6.228345,6.228345,0.03025167,2.489115,-2.861235,25.94412,0.0005739992618560791,513.0057034492493,695000
141
+ -6.1956367,6.1956367,0.03526241,3.1097374,-1.8208,23.745932,0.0005737823963165283,515.8746185302734,700000
142
+ -6.7980304,6.7980304,0.032151446,2.5188978,-1.6315567,20.957712,0.0036269129276275637,534.0091862678528,705000
143
+ -6.5868893,6.5868893,0.028496113,2.2779436,-2.9442375,25.586718,0.0005798498153686524,536.9084386825562,710000
144
+ -6.115699,6.115699,0.032908812,3.2758214,-2.9753933,26.86003,0.000565670108795166,539.7367928028107,715000
145
+ -6.31032,6.31032,0.03600925,3.8715024,-4.0915627,31.027134,0.0005876730442047119,542.6751608848572,720000
146
+ -6.4192677,6.4192677,0.032376498,1.7168968,-1.6609474,19.286537,0.0005669589519500732,545.5099585056305,725000
147
+ -6.114627,6.114627,0.035430163,1.8874418,-3.1470213,24.196836,0.0005695683479309082,548.3578040599823,730000
148
+ -6.4877195,6.4877195,0.03037109,3.486352,-3.389637,28.846455,0.000565123987197876,551.1834282875061,735000
149
+ -6.6369343,6.6369343,0.028930059,2.5309658,-2.7846422,22.586992,0.0005688192367553711,554.0275275707245,740000
150
+ -6.741477,6.741477,0.027519535,2.7204576,-2.1244085,25.572872,0.0005652777671813965,556.853919506073,745000
151
+ -6.585684,6.585684,0.027043536,3.3813038,-3.386456,29.16631,0.0005802672863006592,559.7552587985992,750000
152
+ -6.396975,6.396975,0.027627643,3.247346,-2.561526,27.109428,0.0005729373455047608,562.6199495792389,755000
153
+ -6.5305185,6.5305185,0.029242,2.849906,-2.732354,25.354797,0.00058772873878479,565.558596611023,760000
154
+ -6.6223288,6.6223288,0.02775631,1.9079653,-2.0901527,21.39197,0.0005649585723876954,568.3833932876587,765000
155
+ -6.3757877,6.3757877,0.02883726,4.3148108,-3.3734822,29.131763,0.0005708389282226562,571.2375934123993,770000
156
+ -6.6361246,6.6361246,0.025688305,1.9054444,-1.1904029,18.477243,0.0005728816032409667,574.1020057201385,775000
157
+ -6.46653,6.46653,0.028267346,2.542056,-2.7089386,24.248272,0.0005776381969451904,576.9902002811432,780000
158
+ -6.572589,6.572589,0.030429292,1.7591453,-1.7255301,21.517422,0.0005689775466918946,579.8350913524628,785000
159
+ -7.0062075,7.0062075,0.02357392,3.6248622,-2.3646648,21.277071,0.0005705437660217285,582.6878132820129,790000
160
+ -6.645224,6.645224,0.028026383,2.1366146,-2.5283046,21.721373,0.0005688720226287842,585.5321769714355,795000
161
+ -6.5255,6.5255,0.02709762,2.8469505,-2.8840995,26.41457,0.000574320125579834,588.4037816524506,800000
162
+ -6.5558743,6.5558743,0.02926815,2.4573576,-2.3877718,24.157618,0.0036230884552001952,606.519228219986,805000
163
+ -6.5716324,6.5716324,0.028159201,1.44536,-1.706256,20.250015,0.0005657455444335938,609.3479590415955,810000
164
+ -6.6313777,6.6313777,0.03502928,4.263393,-3.6637151,30.851255,0.0005691827774047852,612.1938757896423,815000
165
+ -6.368537,6.368537,0.030024365,1.3868103,-1.3563056,20.06986,0.0005675354480743408,615.0315556526184,820000
166
+ -6.4284644,6.4284644,0.033097457,2.7252073,-2.4747124,26.753721,0.000568385124206543,617.8734843730927,825000
167
+ -6.7120028,6.7120028,0.030728921,3.0736294,-2.869194,25.397951,0.0005654418468475342,620.7006974220276,830000
168
+ -6.1286516,6.1286516,0.0316223,1.8098407,-2.22473,24.539186,0.0005807977199554443,623.6046893596649,835000
169
+ -6.5424404,6.5424404,0.030603107,3.7239935,-3.7733269,30.587265,0.0005924877643585205,626.5671310424805,840000
170
+ -6.262416,6.262416,0.03460037,2.6386795,-1.9929087,22.674435,0.0005808374404907226,629.4713220596313,845000
171
+ -6.739556,6.739556,0.026288837,2.881329,-1.5782666,22.05482,0.0005628501415252685,632.2855753898621,850000
172
+ -6.269122,6.269122,0.033543605,3.198559,-3.5690486,29.886345,0.0005678372383117675,635.1247653961182,855000
173
+ -6.4147644,6.4147644,0.03426395,1.8561125,-1.4275914,21.556227,0.0005665614128112793,637.9575757980347,860000
174
+ -6.9105825,6.9105825,0.027933944,2.1715841,-1.8753413,24.419874,0.0005761926174163818,640.8385424613953,865000
175
+ -6.772189,6.772189,0.026287466,1.9729817,-2.0466597,21.785902,0.0005803490161895751,643.7402901649475,870000
176
+ -6.4786882,6.4786882,0.03256249,2.6149333,-1.9555374,25.54048,0.0005834825992584228,646.6577079296112,875000
177
+ -6.64401,6.64401,0.033304088,3.5569499,-3.5388436,30.241713,0.0005706868648529053,649.5111453533173,880000
178
+ -6.363848,6.363848,0.031388186,2.6911988,-2.7192771,26.041925,0.0005804341316223144,652.4133198261261,885000
179
+ -6.460245,6.460245,0.028124,3.055022,-3.0258367,25.27132,0.0005970261573791504,655.398453950882,890000
180
+ -6.7143497,6.7143497,0.026085822,1.854056,-1.3598406,20.972713,0.0005733417987823486,658.2651677131653,895000
181
+ -6.3346214,6.3346214,0.032161828,3.1798012,-1.7678427,25.529781,0.0005725254535675049,661.1277990341187,900000
182
+ -6.69641,6.69641,0.028529607,2.6620731,-2.9656625,27.548435,0.003736069059371948,679.8081476688385,905000
183
+ -6.35303,6.35303,0.035408422,3.2582242,-3.2637331,29.198782,0.0005703410148620605,682.6598560810089,910000
184
+ -6.784623,6.784623,0.02511061,4.356342,-4.0765963,28.84565,0.0005649662971496583,685.4846913814545,915000
185
+ -6.3201427,6.3201427,0.033788886,2.390075,-2.3848052,22.118767,0.0005801524639129638,688.3854570388794,920000
186
+ -6.379358,6.379358,0.032192837,3.0710921,-3.250715,25.661106,0.0005936704635620117,691.353812456131,925000
187
+ -6.6621933,6.6621933,0.030289069,1.7491785,-2.52904,22.199528,0.0005893641948699951,694.3006377220154,930000
188
+ -6.561209,6.561209,0.033732392,1.8243003,-2.0534663,24.694817,0.000581614351272583,697.208713054657,935000
189
+ -6.495369,6.495369,0.030227408,2.901191,-1.5519296,22.070787,0.0005856205940246582,700.1368193626404,940000
190
+ -6.77504,6.77504,0.025404138,2.4040818,-4.2238255,26.417147,0.0005626782417297363,702.9502143859863,945000
191
+ -6.7453566,6.7453566,0.026428431,1.7626729,-1.8603299,21.780806,0.0005701858043670654,705.8011462688446,950000
192
+ -6.5823717,6.5823717,0.030823834,3.9454687,-3.7603521,27.193457,0.0005788506031036377,708.6954023838043,955000
193
+ -6.320915,6.320915,0.028686156,2.7308981,-2.2942476,26.004955,0.0005873260021209717,711.6320354938507,960000
194
+ -6.3398457,6.3398457,0.030460447,1.33792,-1.5623204,20.94919,0.0005719638824462891,714.4918582439423,965000
195
+ -6.260271,6.260271,0.03351797,2.5795486,-1.607361,21.179832,0.0005735085010528565,717.3594055175781,970000
196
+ -6.700127,6.700127,0.025158577,1.5831268,-1.7882965,22.406118,0.0005604828834533691,720.1618230342865,975000
197
+ -6.740984,6.740984,0.027514018,2.369043,-2.6229243,23.736094,0.0005698008537292481,723.0108318328857,980000
198
+ -7.0373936,7.0373936,0.024383314,2.0530615,-3.0251276,26.507608,0.0005905689239501953,725.9636793136597,985000
199
+ -6.8504257,6.8504257,0.025951702,1.1550373,-1.7023703,21.67381,0.0005884976863861084,728.9061720371246,990000
200
+ -6.6120067,6.6120067,0.030633722,1.8161309,-1.9438409,20.724861,0.0005771492004394531,731.7919218540192,995000
201
+ -6.8102465,6.8102465,0.027178932,2.7394092,-2.804782,29.105637,0.0005793055057525634,734.6884534358978,1000000
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd2/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/reward_run,evaluation/reward_ctrl,evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ 0.018288434048578828,-0.006640294874086976,10500.0,0.01164813917449185,2.013941473555649,1000.0,0.8013794660568238,2.2729667896197876,1
3
+ 6.0290539876410065,-0.3428127010166645,30500.0,5.686241286624343,5377.319662289347,1000.0,0.7500870943069458,45.569207151237,100000
4
+ 6.631929682918326,-0.3969757258892059,50500.0,6.234953957029121,5626.83040918979,1000.0,0.7342435836791992,47.57893047334949,200000
5
+ 7.663066327258093,-0.3924262416362762,70500.0,7.2706400856218165,5719.333837057169,1000.0,0.7418005347251893,48.3240137960915,300000
6
+ 6.381982593035843,-0.39344112634658823,90500.0,5.988541466689254,5612.913661062149,1000.0,0.7750805377960205,47.46683584966082,400000
7
+ 6.994041422728742,-0.42068378925323496,110500.0,6.573357633475507,5872.95616626541,1000.0,0.7569617509841919,49.5613888656721,500000
8
+ 6.040988796263093,-0.40919294953346264,130500.0,5.631795846729632,5349.340395993759,1000.0,0.762502384185791,45.343843776278725,600000
9
+ 6.129980816320199,-0.40210852265357977,150500.0,5.7278722936666195,5764.961070822706,1000.0,0.7427307724952698,48.69152548431014,700000
10
+ 6.419848965263753,-0.38432711720466617,170500.0,6.035521848059087,5766.168646711462,1000.0,0.7501929521560669,48.70125209311159,800000
11
+ 7.229400549896411,-0.3861334240436554,190500.0,6.843267125852755,6097.7120041142925,1000.0,0.7770875215530395,51.37171990237918,900000
12
+ 6.38662393216336,-0.3931371724605561,210500.0,5.993486759702804,5345.392142153292,1000.0,0.7337923765182495,45.31204194840808,1000000
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd2/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 2, "env_name": "halfcheetah-medium-expert-v2", "save_dir": "exp/bc-loco/halfcheetah-medium-expert-v2/20260823_035622_sd2", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd2/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f9c11afeda3b967bad4b08b869336891bbea85c464e9cbaff0c16b3bf869d262
3
+ size 896500
pretrained_models/bc-loco/halfcheetah-medium-expert-v2/sd2/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -5.138185,5.138185,0.051972955,3.4257543,-3.2384205,43.658257,0.004755139207839966,23.775699615478516,5000
3
+ -5.7689476,5.7689476,0.04818208,3.745004,-2.810646,42.175133,0.0005751646995544433,26.651527166366577,10000
4
+ -5.889681,5.889681,0.04200282,2.6365414,-3.014339,36.972794,0.0005648242473602295,29.475651502609253,15000
5
+ -5.9683175,5.9683175,0.035296015,3.7230482,-1.9731568,36.989815,0.0005556608200073242,32.25395917892456,20000
6
+ -6.229698,6.229698,0.031772777,2.6332557,-2.274786,40.62446,0.0005687254428863526,35.09759020805359,25000
7
+ -5.753511,5.753511,0.039976742,2.7979274,-2.415022,39.631035,0.0005809240341186524,38.00221300125122,30000
8
+ -6.065797,6.065797,0.038737427,11.283931,-11.006092,104.907906,0.0005544395923614501,40.77441430091858,35000
9
+ -6.376091,6.376091,0.030332062,6.2314844,-5.712615,62.29785,0.0005714205265045166,43.63152074813843,40000
10
+ -6.2652984,6.2652984,0.035909332,2.5385444,-4.51979,40.240288,0.0005639130592346191,46.45108938217163,45000
11
+ -6.298191,6.298191,0.0329537,4.556753,-5.008642,43.99172,0.0005564037799835205,49.23311138153076,50000
12
+ -6.3318186,6.3318186,0.031209514,2.1006672,-2.0651145,31.061655,0.0005650970935821533,52.058600425720215,55000
13
+ -6.107888,6.107888,0.03356327,9.256265,-8.867192,79.57226,0.00057121262550354,54.91466689109802,60000
14
+ -6.320519,6.320519,0.04634462,2.4604223,-2.6775482,32.399944,0.0005581889629364013,57.705615282058716,65000
15
+ -6.121855,6.121855,0.03458287,2.091393,-2.0274882,31.057692,0.0005778972148895264,60.595104694366455,70000
16
+ -6.2661314,6.2661314,0.035458874,3.1336725,-3.718582,39.01308,0.0005687090396881104,63.438653230667114,75000
17
+ -6.311195,6.311195,0.031083196,2.231026,-2.0526066,32.479256,0.0005625598430633545,66.25145554542542,80000
18
+ -6.5097656,6.5097656,0.03165687,11.959591,-11.724601,89.735855,0.0005586527824401855,69.04472327232361,85000
19
+ -6.8797884,6.8797884,0.029111033,2.2768126,-2.5375845,32.23324,0.0005694000720977783,71.89172768592834,90000
20
+ -6.3180623,6.3180623,0.030809652,7.6855063,-8.138072,70.139755,0.0005579714298248291,74.68158841133118,95000
21
+ -5.8255243,5.8255243,0.03713078,3.3831544,-3.4040196,37.90428,0.0005691244602203369,77.52721405029297,100000
22
+ -6.7444296,6.7444296,0.030012231,2.6534534,-2.1989896,28.678669,0.0035832036972045897,95.44323635101318,105000
23
+ -6.6237345,6.6237345,0.029274827,2.7891905,-2.5204823,33.018948,0.000588104248046875,98.38376116752625,110000
24
+ -6.659953,6.659953,0.033865888,2.1277714,-2.4323273,30.112232,0.000579849910736084,101.2830138206482,115000
25
+ -6.016075,6.016075,0.033144094,7.102684,-5.7777386,64.03355,0.0005646441459655762,104.10623812675476,120000
26
+ -6.482807,6.482807,0.03095021,6.20074,-4.7642417,46.898525,0.0005786215305328369,106.99935030937195,125000
27
+ -6.0495067,6.0495067,0.033108912,6.303952,-3.9690142,37.299732,0.0005661589622497559,109.83014869689941,130000
28
+ -6.0053186,6.0053186,0.044513077,3.2425761,-2.5066974,31.82769,0.0005697642803192139,112.67897415161133,135000
29
+ -6.2994847,6.2994847,0.03721526,6.307527,-5.9857635,47.559486,0.000569641637802124,115.5271863937378,140000
30
+ -6.030477,6.030477,0.033330824,5.7074246,-4.9035025,47.64487,0.0005722249507904053,118.38831400871277,145000
31
+ -6.539704,6.539704,0.029666286,6.50748,-5.6248937,53.365067,0.0005795837879180908,121.28623652458191,150000
32
+ -6.6601706,6.6601706,0.029352164,2.3396459,-2.4595332,28.294449,0.000565051794052124,124.11149978637695,155000
33
+ -6.2064676,6.2064676,0.034591444,4.6004047,-5.755814,49.477123,0.0005763151168823242,126.9930784702301,160000
34
+ -6.3621287,6.3621287,0.044502877,5.670231,-5.4839253,42.074898,0.0005766102790832519,129.8761341571808,165000
35
+ -6.59578,6.59578,0.029028645,6.669269,-6.2064757,47.112778,0.0005752397060394287,132.75233578681946,170000
36
+ -6.590393,6.590393,0.029249197,3.0768232,-4.622465,35.645027,0.0005760723114013672,135.6327018737793,175000
37
+ -6.5514107,6.5514107,0.03026177,2.058397,-3.6620002,28.590738,0.0005652061462402344,138.45873594284058,180000
38
+ -6.328093,6.328093,0.03109914,4.0538063,-4.1170096,37.959793,0.0005761639595031738,141.3395586013794,185000
39
+ -6.2438755,6.2438755,0.036215674,6.6084685,-5.83971,48.206314,0.0005717925548553467,144.1985261440277,190000
40
+ -6.651737,6.651737,0.037804257,6.6072083,-6.794419,50.028355,0.000579629898071289,147.09667921066284,195000
41
+ -6.349597,6.349597,0.030606061,3.3405883,-3.1036613,27.699467,0.0005668892860412598,149.93112897872925,200000
42
+ -6.551802,6.551802,0.029022133,3.382603,-3.9079826,33.49805,0.0035151273727416993,167.506769657135,205000
43
+ -6.3317122,6.3317122,0.03178466,2.3623083,-2.6072934,31.604336,0.0005604104518890381,170.30882620811462,210000
44
+ -6.707323,6.707323,0.024704449,10.771513,-11.324881,65.25023,0.0005609532356262207,173.113596200943,215000
45
+ -6.2614136,6.2614136,0.035927255,13.15208,-12.9150915,78.88665,0.0005699431896209716,175.96331524848938,220000
46
+ -6.272787,6.272787,0.029322132,3.225706,-3.8164372,36.962532,0.0005729808807373047,178.82822275161743,225000
47
+ -6.638819,6.638819,0.026870137,3.2812493,-2.8448105,27.071022,0.0005749120712280274,181.70278787612915,230000
48
+ -6.293128,6.293128,0.030355958,6.4033217,-5.5326476,42.470425,0.0005693790912628174,184.54968667030334,235000
49
+ -6.355332,6.355332,0.033378154,6.139769,-6.186383,43.325054,0.0005827030181884766,187.4632053375244,240000
50
+ -6.2197104,6.2197104,0.032883346,5.194096,-5.6063747,44.759117,0.0005601925373077393,190.26417064666748,245000
51
+ -6.2121387,6.2121387,0.032492526,3.8064904,-5.4495716,37.242973,0.0005623828411102295,193.0760886669159,250000
52
+ -6.5655737,6.5655737,0.03220236,2.0072582,-3.2044888,26.423523,0.0005626720905303955,195.88945198059082,255000
53
+ -6.1364794,6.1364794,0.031729966,3.4100678,-5.58599,33.809486,0.0005761309623718262,198.77011036872864,260000
54
+ -6.273868,6.273868,0.035905913,2.5440955,-3.0218313,27.374878,0.0005750482082366944,201.64535474777222,265000
55
+ -6.150154,6.150154,0.035603974,3.3464432,-2.7993937,30.916214,0.0005703957557678223,204.49733662605286,270000
56
+ -6.334961,6.334961,0.029900562,7.1879425,-6.9536104,46.684784,0.0005650111675262451,207.32239508628845,275000
57
+ -6.3106623,6.3106623,0.03072614,1.5724595,-3.2669253,25.32923,0.000565744686126709,210.15112233161926,280000
58
+ -7.146676,7.146676,0.026175752,3.010466,-3.134824,26.389387,0.0005776663780212402,213.03945803642273,285000
59
+ -6.327428,6.327428,0.03155735,4.4860864,-4.1883388,36.87179,0.0005667880058288574,215.87340259552002,290000
60
+ -6.108453,6.108453,0.03421442,4.8316464,-5.7812285,42.4228,0.0005642497062683105,218.69465446472168,295000
61
+ -6.6671896,6.6671896,0.0328774,3.6492279,-3.433735,32.14518,0.0005708027362823486,221.54867124557495,300000
62
+ -6.6340876,6.6340876,0.026169745,4.7857966,-4.407733,38.800198,0.0035356114864349367,239.22673201560974,305000
63
+ -6.7882113,6.7882113,0.033567466,2.5370226,-2.574302,27.021088,0.0005737380027770996,242.09542560577393,310000
64
+ -6.9248233,6.9248233,0.030174796,4.5003996,-4.864674,32.45983,0.0005721063613891602,244.955961227417,315000
65
+ -6.208785,6.208785,0.038237885,6.011132,-5.6338596,43.833385,0.0005671914100646972,247.79192233085632,320000
66
+ -6.478532,6.478532,0.028270824,6.6032553,-6.035065,45.27639,0.0005853991031646729,250.71892142295837,325000
67
+ -6.3791676,6.3791676,0.029127657,2.7981126,-2.62155,27.489233,0.0005711024284362793,253.57443642616272,330000
68
+ -6.1310263,6.1310263,0.032641243,4.4090457,-1.9736284,26.68167,0.0005782154560089112,256.4655165672302,335000
69
+ -6.5945053,6.5945053,0.02621672,8.517869,-8.66891,51.603127,0.0005753294944763184,259.3421673774719,340000
70
+ -6.56427,6.56427,0.02828328,2.5537431,-2.6796956,27.051363,0.0005917865753173828,262.3011038303375,345000
71
+ -6.4085965,6.4085965,0.032940157,2.452375,-3.252238,31.35418,0.0005840767860412597,265.22149205207825,350000
72
+ -6.2978,6.2978,0.034295253,2.1186008,-3.7554486,26.389572,0.0005740971565246582,268.0919814109802,355000
73
+ -6.431534,6.431534,0.029857472,16.448412,-15.958996,89.51463,0.0005651880264282227,270.91792464256287,360000
74
+ -6.522525,6.522525,0.032007642,2.9581966,-1.8939234,27.633183,0.0005697442531585694,273.7666494846344,365000
75
+ -5.967743,5.967743,0.037009463,2.4776206,-2.4934187,25.58977,0.0005708253860473633,276.6207797527313,370000
76
+ -6.432638,6.432638,0.028562754,2.754851,-2.6330507,26.302135,0.0005722854614257812,279.4822106361389,375000
77
+ -6.46775,6.46775,0.032724213,4.3159842,-4.217931,31.944012,0.0005706605434417724,282.3355166912079,380000
78
+ -6.495175,6.495175,0.03323885,6.3479257,-6.0517654,39.245712,0.0005749171733856201,285.2101080417633,385000
79
+ -6.60003,6.60003,0.028377658,3.6936765,-3.130652,29.26363,0.0005765361309051514,288.09279227256775,390000
80
+ -6.608549,6.608549,0.02868231,2.4091609,-2.9538217,28.210743,0.0006010156154632568,291.0978741645813,395000
81
+ -6.5413804,6.5413804,0.028421145,4.8099623,-4.0544963,44.90861,0.0005885551929473877,294.04065322875977,400000
82
+ -6.716859,6.716859,0.032733448,4.433241,-4.6207204,35.074047,0.003708134937286377,312.58133244514465,405000
83
+ -6.122467,6.122467,0.035682008,8.6616745,-9.317084,45.769585,0.0006010251998901367,315.586462020874,410000
84
+ -6.9509583,6.9509583,0.026139786,2.7184687,-3.1228113,23.242573,0.0005860395431518554,318.5166630744934,415000
85
+ -6.0789247,6.0789247,0.031850077,3.0868592,-2.0997698,23.983194,0.0005849990367889404,321.44166111946106,420000
86
+ -6.2471704,6.2471704,0.029418837,2.8624423,-4.1180224,28.027723,0.0005687600135803223,324.2854640483856,425000
87
+ -6.8297005,6.8297005,0.031293355,4.751443,-4.616309,33.96329,0.0005585328102111816,327.0781316757202,430000
88
+ -6.4533806,6.4533806,0.031371996,2.913118,-2.6770287,27.538677,0.0005654488563537598,329.9053795337677,435000
89
+ -6.8124456,6.8124456,0.025656147,4.169615,-4.3294077,32.2919,0.0005641687393188477,332.72622632980347,440000
90
+ -6.347969,6.347969,0.032314587,5.1862416,-1.780567,23.411606,0.0005934608459472657,335.6935338973999,445000
91
+ -6.6835155,6.6835155,0.029790904,2.540095,-2.6237414,24.602253,0.000574310302734375,338.56508922576904,450000
92
+ -6.3839855,6.3839855,0.028462512,3.1473691,-3.008546,27.177206,0.0005734647274017334,341.4324162006378,455000
93
+ -6.2247505,6.2247505,0.03189827,4.999638,-4.96371,39.820827,0.0005631578922271729,344.24820852279663,460000
94
+ -6.428713,6.428713,0.030220566,3.534346,-3.986452,30.683971,0.0005700373649597168,347.09839844703674,465000
95
+ -6.54518,6.54518,0.03213324,2.3343995,-1.768971,22.309067,0.0005740013122558594,349.96840834617615,470000
96
+ -6.8802495,6.8802495,0.02699576,4.7268972,-4.274435,30.396667,0.0005684104919433594,352.8104639053345,475000
97
+ -6.522351,6.522351,0.03097505,4.7624874,-5.221535,32.000626,0.0005670139789581298,355.64553689956665,480000
98
+ -6.0520616,6.0520616,0.034290746,2.552806,-2.5690286,27.596762,0.0005804024219512939,358.5475528240204,485000
99
+ -6.5262074,6.5262074,0.03082063,9.899156,-8.991212,48.764862,0.0005661882400512696,361.378497838974,490000
100
+ -6.379578,6.379578,0.027274579,3.0058696,-2.8236806,28.070192,0.0005569221973419189,364.1631119251251,495000
101
+ -7.069468,7.069468,0.027135585,5.2389364,-4.995513,34.551178,0.0005650628566741943,366.9884295463562,500000
102
+ -6.853919,6.853919,0.025934402,3.6124752,-3.5548518,28.792048,0.003617977237701416,385.0783188343048,505000
103
+ -6.377431,6.377431,0.028553568,5.4213367,-5.147217,34.146122,0.0005995180130004883,388.07591223716736,510000
104
+ -6.481436,6.481436,0.033138406,4.3652754,-4.1702414,33.50797,0.0005681714057922363,390.9167730808258,515000
105
+ -6.5110235,6.5110235,0.0290637,2.4764905,-2.7264051,21.578709,0.0005884473800659179,393.8590133190155,520000
106
+ -6.256866,6.256866,0.031114366,3.7914734,-4.3128023,29.60349,0.0005866333961486816,396.7921841144562,525000
107
+ -6.385482,6.385482,0.030354714,5.3967724,-5.2724953,38.848732,0.0006035071849822999,399.8097243309021,530000
108
+ -6.3996305,6.3996305,0.028020926,3.160178,-2.6569164,25.681675,0.0005888818264007568,402.75413703918457,535000
109
+ -5.9276876,5.9276876,0.035770785,5.0739717,-6.022221,39.14825,0.0005626159191131592,405.56722044944763,540000
110
+ -6.102764,6.102764,0.033804603,2.0675025,-2.4643323,24.41076,0.0005870942115783691,408.5026943683624,545000
111
+ -6.529484,6.529484,0.03090926,2.378218,-2.4272776,27.248333,0.0005716904640197754,411.36115026474,550000
112
+ -6.4228415,6.4228415,0.030325476,8.228594,-7.9193664,42.657066,0.0005830414772033691,414.27636194229126,555000
113
+ -6.72631,6.72631,0.026405908,2.2330852,-3.5798845,23.60184,0.0005850387573242187,417.20155906677246,560000
114
+ -6.6984987,6.6984987,0.025526872,2.3920105,-3.5884254,26.673601,0.0005822497844696045,420.1128122806549,565000
115
+ -6.3024573,6.3024573,0.0357822,2.9654944,-2.8414898,25.611834,0.000572279167175293,422.9742112159729,570000
116
+ -6.3940353,6.3940353,0.02678982,5.4660597,-4.9342012,38.211845,0.0005618149757385253,425.7832887172699,575000
117
+ -6.5631685,6.5631685,0.030105159,1.8573363,-2.4275336,20.865505,0.0005700406551361084,428.6334958076477,580000
118
+ -6.509391,6.509391,0.032002218,6.918428,-7.2772303,36.469257,0.0005701781272888183,431.4843888282776,585000
119
+ -6.310955,6.310955,0.029766288,4.0407367,-4.1091614,30.656502,0.0005618594646453857,434.2936899662018,590000
120
+ -6.241522,6.241522,0.028831825,8.663655,-8.578141,43.302757,0.0005736500263214112,437.16194319725037,595000
121
+ -6.553445,6.553445,0.034487423,2.3951986,-1.5861679,21.093842,0.0005986968994140624,440.15543127059937,600000
122
+ -6.638592,6.638592,0.030370347,10.159079,-10.948646,49.233063,0.003627386236190796,458.2923653125763,605000
123
+ -6.6957235,6.6957235,0.025592905,3.490847,-3.9344306,28.504059,0.0005757250785827637,461.17099356651306,610000
124
+ -6.473988,6.473988,0.031337336,6.024962,-5.2560043,35.7068,0.0005790042877197266,464.0660181045532,615000
125
+ -6.0857086,6.0857086,0.035342958,3.9083257,-3.9554737,30.549334,0.0005824896812438965,466.9784700870514,620000
126
+ -6.322419,6.322419,0.032140847,2.5001295,-2.8206725,25.310238,0.0005833813667297363,469.89538073539734,625000
127
+ -6.718828,6.718828,0.027521268,4.3985014,-4.09097,27.96128,0.0005775879859924316,472.7833240032196,630000
128
+ -6.465693,6.465693,0.028331693,2.0656958,-2.655612,21.174747,0.0005627303123474122,475.5969789028168,635000
129
+ -6.2235103,6.2235103,0.03245797,7.123917,-7.134827,40.38575,0.0005672136306762696,478.43304991722107,640000
130
+ -6.5512204,6.5512204,0.036064647,3.1516821,-3.082341,31.371101,0.000568178129196167,481.27394461631775,645000
131
+ -6.4372025,6.4372025,0.026588095,7.6937947,-8.019726,40.690594,0.0005670436382293701,484.1091661453247,650000
132
+ -6.487651,6.487651,0.027489718,4.008423,-3.2199676,24.772728,0.0005671116828918457,486.9447286128998,655000
133
+ -6.3927383,6.3927383,0.030634075,2.6158,-2.0948853,23.857998,0.0005809843063354492,489.84965348243713,660000
134
+ -6.658348,6.658348,0.02941896,2.9214547,-3.0113714,25.429314,0.0005765878677368164,492.7325966358185,665000
135
+ -6.5689907,6.5689907,0.027084425,2.0352228,-2.8340218,24.446949,0.0005723358631134033,495.5942795276642,670000
136
+ -6.4447002,6.4447002,0.036440875,4.290892,-3.2358003,25.948606,0.0005745748519897461,498.467157125473,675000
137
+ -6.0741167,6.0741167,0.032358423,2.698207,-2.7562382,25.351511,0.0005771280765533447,501.35280084609985,680000
138
+ -7.0246906,7.0246906,0.026047878,4.0205507,-4.6611485,27.019093,0.0005804539680480957,504.25507402420044,685000
139
+ -6.798969,6.798969,0.024864078,2.8025017,-2.9669294,23.724419,0.0005804062843322754,507.1571090221405,690000
140
+ -6.375613,6.375613,0.03132682,6.7042794,-6.4741707,36.627296,0.0005771781921386719,510.04300355911255,695000
141
+ -6.4941454,6.4941454,0.029394414,4.188344,-4.345997,26.21781,0.0005737405300140381,512.9117102622986,700000
142
+ -6.296321,6.296321,0.038955733,2.6390893,-1.9036944,24.7027,0.003562456226348877,530.723995923996,705000
143
+ -6.480875,6.480875,0.028774988,6.053671,-6.032639,33.394962,0.0005631271839141845,533.5396347045898,710000
144
+ -6.629159,6.629159,0.027547432,2.7516952,-1.3810203,22.020664,0.0005585270881652832,536.3322734832764,715000
145
+ -6.45035,6.45035,0.0321149,2.9319048,-2.7252698,24.329454,0.0005657874584197998,539.1612141132355,720000
146
+ -6.625662,6.625662,0.024250846,4.854688,-4.596908,29.151627,0.0005784261226654052,542.0533485412598,725000
147
+ -6.783951,6.783951,0.025462877,3.047528,-3.2824566,26.209719,0.0005694473266601562,544.9005887508392,730000
148
+ -6.6983023,6.6983023,0.027835645,2.1425428,-2.7309127,25.157614,0.0005673059940338134,547.7371230125427,735000
149
+ -6.615576,6.615576,0.028726771,2.4075377,-2.420896,22.603542,0.0005626279354095459,550.5502665042877,740000
150
+ -6.3773685,6.3773685,0.032661974,2.780276,-2.315846,25.17462,0.0005692444801330567,553.3964984416962,745000
151
+ -6.35363,6.35363,0.030423155,1.4704386,-2.235882,21.848946,0.0005705556869506836,556.2492809295654,750000
152
+ -6.490219,6.490219,0.028358718,5.412439,-5.2832365,33.59812,0.0005810572624206543,559.1545708179474,755000
153
+ -6.169616,6.169616,0.036183033,3.9405456,-3.2467012,31.648756,0.0005904853820800782,562.1070029735565,760000
154
+ -6.291814,6.291814,0.03915675,7.301687,-6.9529424,35.269493,0.0005788747310638428,565.001380443573,765000
155
+ -7.2228394,7.2228394,0.026575971,4.713038,-3.0581436,32.80656,0.0005624727249145508,567.8137471675873,770000
156
+ -6.3347745,6.3347745,0.030539557,3.4064503,-2.887836,29.43851,0.0005576255798339844,570.6018784046173,775000
157
+ -6.635001,6.635001,0.029812312,2.7055097,-3.4025629,27.876959,0.0005737118244171143,573.4704411029816,780000
158
+ -6.5553875,6.5553875,0.027045518,3.7487276,-2.264443,25.03052,0.0005696252346038818,576.3185715675354,785000
159
+ -6.795888,6.795888,0.0282566,2.6381373,-2.919626,24.799345,0.0005798842906951904,579.21799659729,790000
160
+ -6.8606906,6.8606906,0.028853398,2.5638542,-3.292181,25.414007,0.0005710309505462647,582.0731554031372,795000
161
+ -6.7336607,6.7336607,0.02895703,2.1715295,-1.4843636,23.940895,0.0005668751239776611,584.9075348377228,800000
162
+ -5.89894,5.89894,0.044306725,8.8894415,-8.515457,55.971428,0.0035818616390228273,602.8168468475342,805000
163
+ -6.776766,6.776766,0.02787838,3.3957431,-3.6219256,24.799473,0.0005681815147399903,605.6577577590942,810000
164
+ -6.404531,6.404531,0.025241971,2.1438131,-2.2010725,23.627182,0.0005694113254547119,608.5048184394836,815000
165
+ -6.1910157,6.1910157,0.032347344,5.252867,-4.831908,32.973557,0.0005659520149230957,611.3345820903778,820000
166
+ -7.076351,7.076351,0.024370631,2.529712,-1.729269,24.17147,0.0005626938343048096,614.1480548381805,825000
167
+ -6.423788,6.423788,0.036378436,2.0859878,-1.8186177,21.908106,0.0005747994422912598,617.0220549106598,830000
168
+ -6.9675636,6.9675636,0.028971072,3.6541786,-3.8785076,28.048607,0.0005727273941040039,619.8856947422028,835000
169
+ -6.777214,6.777214,0.031937957,2.8674111,-2.41277,21.870285,0.0005594908714294433,622.6831529140472,840000
170
+ -6.815417,6.815417,0.02849546,9.160373,-8.873007,40.49978,0.0005974155426025391,625.6702349185944,845000
171
+ -6.152587,6.152587,0.04125844,2.7885041,-2.057929,22.193943,0.0005775110721588135,628.5577940940857,850000
172
+ -6.8816442,6.8816442,0.026956927,2.7821028,-4.0163894,30.062902,0.0005726549148559571,631.4210720062256,855000
173
+ -6.669247,6.669247,0.03084509,2.6029522,-2.9012432,25.11826,0.0005725852489471435,634.2840015888214,860000
174
+ -6.4071665,6.4071665,0.035054866,3.0170848,-2.78699,26.252443,0.0005795835018157959,637.1819229125977,865000
175
+ -6.513874,6.513874,0.02776621,1.9757981,-2.283097,21.187492,0.0005855924129486084,640.1098880767822,870000
176
+ -6.645979,6.645979,0.027020156,2.9344652,-3.1759727,27.06087,0.0005697728633880615,642.9587554931641,875000
177
+ -6.5505276,6.5505276,0.032198295,3.08972,-2.622088,29.218792,0.000575662612915039,645.837072134018,880000
178
+ -6.369943,6.369943,0.030866947,2.1452038,-3.6782339,22.757208,0.0005597099781036377,648.635626077652,885000
179
+ -6.6314597,6.6314597,0.03407872,3.3239243,-3.708923,33.224228,0.0005741871356964111,651.5065650939941,890000
180
+ -6.4399586,6.4399586,0.028785765,2.3602324,-3.2558048,24.532356,0.0005904597759246826,654.4588675498962,895000
181
+ -6.630242,6.630242,0.029750679,5.7204885,-5.5380597,34.54693,0.000574336290359497,657.3305523395538,900000
182
+ -6.517959,6.517959,0.031394213,3.035354,-3.636559,30.388975,0.0036933513164520266,675.7973122596741,905000
183
+ -7.0314913,7.0314913,0.024411216,3.3081462,-3.440971,29.469744,0.0005747330665588379,678.670981168747,910000
184
+ -6.9296923,6.9296923,0.026748408,2.0808108,-2.311257,20.839691,0.0005827898025512695,681.5849330425262,915000
185
+ -6.813223,6.813223,0.027659377,4.364589,-4.066392,26.212912,0.0005954368591308594,684.5621206760406,920000
186
+ -7.0404406,7.0404406,0.027065843,1.864426,-2.5518076,23.501968,0.0005725444793701172,687.4248518943787,925000
187
+ -6.8329,6.8329,0.027762905,1.7464112,-2.761672,27.263987,0.0005791243553161621,690.320478439331,930000
188
+ -6.309346,6.309346,0.037496865,5.739627,-3.6717274,32.10219,0.0005588724613189698,693.1148436069489,935000
189
+ -6.626982,6.626982,0.027545085,1.164668,-1.52873,18.545897,0.0005675758361816406,695.9527251720428,940000
190
+ -6.6729617,6.6729617,0.028313462,2.1816847,-2.45809,24.970934,0.0005872551918029785,698.8890054225922,945000
191
+ -6.72812,6.72812,0.027207345,2.517957,-2.6455173,26.412159,0.0005943236351013183,701.8606269359589,950000
192
+ -6.398923,6.398923,0.031290047,8.529059,-8.44156,42.187683,0.0005679368019104004,704.7003147602081,955000
193
+ -6.4398565,6.4398565,0.027887948,4.287176,-3.6772633,22.925152,0.0005760965824127197,707.5808010101318,960000
194
+ -6.357932,6.357932,0.028041106,6.4093113,-6.679523,36.870037,0.0005660079956054687,710.4108440876007,965000
195
+ -6.494995,6.494995,0.030675687,4.314728,-4.261473,25.437807,0.0005792773246765137,713.307234287262,970000
196
+ -6.3509274,6.3509274,0.031014746,5.811861,-5.5715394,38.530785,0.0005613001346588134,716.1137385368347,975000
197
+ -6.7441735,6.7441735,0.030196985,4.0711,-3.5791318,25.783653,0.0005796033382415771,719.0117583274841,980000
198
+ -6.5439453,6.5439453,0.029639058,3.3451955,-3.4708214,29.625612,0.0005890379428863526,721.9569518566132,985000
199
+ -6.4174333,6.4174333,0.027726924,1.1676925,-1.7712843,19.127398,0.0005656261920928955,724.7850859165192,990000
200
+ -6.2756467,6.2756467,0.030833185,2.0608182,-2.465618,23.558256,0.0005603485584259033,727.586831331253,995000
201
+ -6.6371617,6.6371617,0.028982839,2.4547842,-1.6191471,23.664167,0.0005776477336883545,730.4750728607178,1000000
pretrained_models/bc-loco/hopper-medium-v2/sd0/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ 570.75,2.7357895710166624,100.1403528874745,54.3,0.07178200483322143,3.699799746420889,1
3
+ 7096.75,3.996710581693866,1817.0277992916454,567.2,0.4753761887550354,56.45288941557701,100000
4
+ 17899.4,3.981928308667622,1761.842997564292,552.6,0.4556058406829834,54.75728100513938,200000
5
+ 29432.35,4.032261926053929,1785.0028798351261,560.65,0.4617761611938477,55.46889162860758,300000
6
+ 39691.0,4.015125684968356,1595.9363472017174,505.75,0.41397805213928224,49.6596326871809,400000
7
+ 50215.8,4.120894571052067,1673.42229142852,525.8,0.42107357978820803,52.04046607987466,500000
8
+ 60884.55,4.0572452208127086,1742.7566607104393,548.0,0.457374632358551,54.17083415236765,600000
9
+ 72244.4,4.0038015628101835,1811.780047967731,567.1,0.47224247455596924,56.291646990086804,700000
10
+ 82901.5,3.918794489420562,1621.9824816761989,506.3,0.42761410474777223,50.45992630592974,800000
11
+ 93082.0,4.026396200494446,1599.089886190803,502.5,0.4221087098121643,49.75652833716359,900000
12
+ 103798.45,3.989703838864834,1851.668762558559,583.1,0.4803542971611023,57.51726777379305,1000000
pretrained_models/bc-loco/hopper-medium-v2/sd0/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 0, "env_name": "hopper-medium-v2", "save_dir": "exp/bc-loco/hopper-medium-v2/20260823_040923_sd0", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/hopper-medium-v2/sd0/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f899498d07b45e807bdd06cfc868697cd1f37730578aafaa8883c3e0ceed403e
3
+ size 859564
pretrained_models/bc-loco/hopper-medium-v2/sd0/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -1.6020659,1.6020659,0.06971987,2.4632018,-2.6061797,32.87719,0.0014754125118255615,7.377066612243652,5000
3
+ -1.4055722,1.4055722,0.08349441,2.953036,-1.9203384,36.824745,0.000541328763961792,10.08371353149414,10000
4
+ -2.1756277,2.1756277,0.05572281,3.9009519,-2.7758694,32.41844,0.0005238197803497315,12.70281982421875,15000
5
+ -1.86937,1.86937,0.0652411,1.0618734,-1.5965356,24.233402,0.0005350881099700928,15.378264427185059,20000
6
+ -2.162793,2.162793,0.0596112,3.1484516,-5.3679447,40.672638,0.0005320617198944092,18.038576364517212,25000
7
+ -1.8653262,1.8653262,0.05640708,2.4302182,-4.8054485,34.84664,0.0005263345241546631,20.670252561569214,30000
8
+ -2.0166163,2.0166163,0.06234754,4.5083303,-1.9570609,38.52581,0.0005480575084686279,23.410542964935303,35000
9
+ -1.9974306,1.9974306,0.066413596,4.5394,-1.5703996,32.59565,0.0005279875755310058,26.05048418045044,40000
10
+ -2.1395407,2.1395407,0.060585305,3.2312694,-6.5152936,51.166824,0.0005352081298828125,28.726529121398926,45000
11
+ -2.1586215,2.1586215,0.05433625,1.885489,-2.4002538,27.620695,0.0005355761528015137,31.40441370010376,50000
12
+ -2.344451,2.344451,0.050966036,1.6797832,-2.5060768,24.39105,0.0005301822662353516,34.055328607559204,55000
13
+ -2.4096797,2.4096797,0.049081802,5.9061236,-4.329779,43.63373,0.0005304483890533448,36.707574129104614,60000
14
+ -2.2048068,2.2048068,0.057005882,3.949671,-5.862105,41.223434,0.0005354640007019043,39.38489747047424,65000
15
+ -1.9874473,1.9874473,0.065947615,4.670426,-2.6153142,36.157967,0.0005382807731628418,42.0763041973114,70000
16
+ -2.2029812,2.2029812,0.053002417,4.87516,-3.851668,44.48134,0.0005353338718414307,44.75297784805298,75000
17
+ -2.2421331,2.2421331,0.05731661,3.3100615,-3.7981899,29.212189,0.0005462336540222168,47.48414921760559,80000
18
+ -2.3834555,2.3834555,0.053817607,2.3076801,-2.6344662,28.33466,0.0005286812305450439,50.12755823135376,85000
19
+ -2.2169037,2.2169037,0.049426496,3.0198393,-1.8939197,27.45871,0.0005217467308044433,52.736294984817505,90000
20
+ -2.253026,2.253026,0.054219954,6.645704,-1.380053,31.250435,0.0005693833351135254,55.58321499824524,95000
21
+ -2.1276255,2.1276255,0.061596632,1.9221455,-2.724267,26.450825,0.0005309603214263916,58.238019704818726,100000
22
+ -2.003255,2.003255,0.053599328,1.8417997,-4.1800184,28.954174,0.0024374723434448242,70.4253842830658,105000
23
+ -2.0745203,2.0745203,0.05563159,3.1057415,-1.7037833,27.66107,0.0005530094146728515,73.1904354095459,110000
24
+ -2.1488466,2.1488466,0.052514397,3.0507464,-4.8261957,36.412903,0.0005418027400970459,75.8994529247284,115000
25
+ -2.1501796,2.1501796,0.057309207,2.821509,-1.9478616,28.978277,0.0005269949913024902,78.53443145751953,120000
26
+ -2.396058,2.396058,0.054561153,2.1773152,-1.7515143,28.289959,0.000534833288192749,81.20860195159912,125000
27
+ -2.0819001,2.0819001,0.055052172,5.6361494,-3.0799255,36.00332,0.0005339688777923584,83.87845015525818,130000
28
+ -1.9824097,1.9824097,0.06277006,2.9246743,-5.1058927,33.614147,0.0005242553234100342,86.49972987174988,135000
29
+ -2.2977715,2.2977715,0.05446621,3.0040216,-1.7306018,30.846094,0.0005459242820739746,89.22935509681702,140000
30
+ -2.2638454,2.2638454,0.049209427,3.5988388,-5.0043545,34.812572,0.0005381644248962402,91.92018055915833,145000
31
+ -1.9545441,1.9545441,0.06288284,3.3970044,-3.0100057,29.795822,0.000534548568725586,94.59292721748352,150000
32
+ -2.2866306,2.2866306,0.048707955,2.6174405,-5.2682147,36.61524,0.0005309017658233642,97.24743938446045,155000
33
+ -2.140605,2.140605,0.051698558,3.3718884,-2.1168087,29.808605,0.000534787654876709,99.92138075828552,160000
34
+ -2.0584908,2.0584908,0.054547288,1.6521405,-3.2181418,27.531527,0.0005269810199737549,102.5562891960144,165000
35
+ -2.1704898,2.1704898,0.05517895,1.2753289,-1.8202748,22.060196,0.0005325003623962403,105.21879410743713,170000
36
+ -2.2548819,2.2548819,0.04910656,1.9572959,-3.625319,29.122578,0.0005378638744354248,107.9081163406372,175000
37
+ -2.1777353,2.1777353,0.052925043,2.4507816,-2.0279546,25.16712,0.0005234982967376708,110.52561140060425,180000
38
+ -2.101581,2.101581,0.06248156,1.8921978,-7.6108446,31.9678,0.0005213293552398682,113.13226175308228,185000
39
+ -2.0692134,2.0692134,0.057550304,3.2572904,-3.9403334,28.024855,0.0005356148719787597,115.8103392124176,190000
40
+ -2.4057813,2.4057813,0.04266013,2.9050944,-4.084396,30.456354,0.0005269285678863525,118.4449851512909,195000
41
+ -2.007228,2.007228,0.054701,2.4410744,-2.628975,20.036566,0.0005394970893859864,121.14247488975525,200000
42
+ -2.375711,2.375711,0.04772493,4.267181,-2.204708,29.774006,0.0023564945697784425,132.924950838089,205000
43
+ -2.4438422,2.4438422,0.049938835,1.3703436,-4.5050445,23.457874,0.0005280109882354737,135.56501007080078,210000
44
+ -2.263834,2.263834,0.055615615,2.238478,-1.6153185,20.991482,0.0005361786365509034,138.24590802192688,215000
45
+ -2.2654033,2.2654033,0.06403984,3.0602334,-5.0564976,28.04734,0.0005291619300842285,140.89172172546387,220000
46
+ -2.2525926,2.2525926,0.053233415,8.583174,-4.1236577,32.52058,0.0005346287250518799,143.56486821174622,225000
47
+ -2.1873128,2.1873128,0.056186765,3.1894472,-1.9559295,25.82338,0.0005285424709320068,146.2075834274292,230000
48
+ -2.1900492,2.1900492,0.05901138,1.6535453,-3.2881966,23.268494,0.0005209867477416993,148.81252002716064,235000
49
+ -2.017159,2.017159,0.055873245,2.9741678,-2.992394,26.523077,0.0005173704624176025,151.39937543869019,240000
50
+ -2.2088747,2.2088747,0.052271754,5.3043313,-7.955738,33.025307,0.0005285928726196289,154.04234290122986,245000
51
+ -2.1843517,2.1843517,0.049044844,6.452006,-2.5197334,33.12192,0.0005232896327972412,156.6587941646576,250000
52
+ -1.7673101,1.7673101,0.07029155,1.6555848,-1.4348364,21.471308,0.0005226694583892822,159.27214455604553,255000
53
+ -2.0443816,2.0443816,0.05397272,2.1796343,-1.7796292,18.305244,0.0005225721836090088,161.88500833511353,260000
54
+ -2.085279,2.085279,0.06157469,2.5587175,-3.6180334,23.806917,0.0005201577186584472,164.4858000278473,265000
55
+ -2.0189953,2.0189953,0.05790042,2.6536536,-2.0294363,22.236557,0.0005221153259277344,167.09637999534607,270000
56
+ -2.2791824,2.2791824,0.056556374,2.216121,-2.8380995,25.588558,0.0005334763526916504,169.76376700401306,275000
57
+ -2.1824188,2.1824188,0.061797522,1.7148875,-2.0444891,20.125626,0.0005329282283782959,172.42841243743896,280000
58
+ -2.182384,2.182384,0.04509008,4.75312,-2.9695928,23.984207,0.0005190423488616944,175.02362728118896,285000
59
+ -2.3571262,2.3571262,0.050437212,2.147021,-3.608207,22.371317,0.0005171730518341065,177.60949659347534,290000
60
+ -2.2790866,2.2790866,0.049014118,4.389622,-4.2404213,29.120861,0.0005319424152374268,180.26921343803406,295000
61
+ -2.129335,2.129335,0.060660668,3.0826612,-3.8648005,27.083368,0.0005350056171417236,182.94424510002136,300000
62
+ -1.7914926,1.7914926,0.058496963,1.8595904,-4.4105773,23.592995,0.0023887906074523927,194.8882019519806,305000
63
+ -2.2749615,2.2749615,0.05389487,5.0087867,-3.1564593,24.759634,0.0005214449405670166,197.49542999267578,310000
64
+ -1.9477105,1.9477105,0.05607169,5.7336416,-2.3369083,29.98656,0.0005373199462890625,200.18203282356262,315000
65
+ -2.40949,2.40949,0.05143427,2.7497323,-1.6006184,20.891033,0.0005167355537414551,202.76571393013,320000
66
+ -2.1639242,2.1639242,0.05134224,2.945226,-1.3671614,24.042858,0.0005205832481384277,205.3686330318451,325000
67
+ -2.3171015,2.3171015,0.046336472,1.3136423,-2.129615,17.406633,0.0005222797870635986,207.98003554344177,330000
68
+ -2.2087905,2.2087905,0.054482073,1.4974074,-3.2303255,23.298275,0.0005323813915252685,210.6419460773468,335000
69
+ -2.1661747,2.1661747,0.051039845,2.8205345,-5.1700563,29.500849,0.0005339651107788086,213.31177496910095,340000
70
+ -2.1400113,2.1400113,0.05225157,2.383708,-3.9901142,26.920225,0.000522128438949585,215.92242097854614,345000
71
+ -1.9811715,1.9811715,0.058946818,5.387797,-2.4207823,31.250061,0.000531658411026001,218.5807158946991,350000
72
+ -2.1473815,2.1473815,0.05818386,3.072369,-1.8350253,21.075254,0.000522394323348999,221.19269037246704,355000
73
+ -2.2776155,2.2776155,0.056779217,1.2081273,-1.3697186,17.895716,0.0005187061786651611,223.7862250804901,360000
74
+ -2.297702,2.297702,0.050076794,1.4464927,-3.2565114,24.219997,0.0005281830310821533,226.42714381217957,365000
75
+ -2.1595402,2.1595402,0.05229699,1.3815745,-1.9739566,19.429787,0.0005328551769256592,229.09142351150513,370000
76
+ -2.2261708,2.2261708,0.0621891,2.6058908,-1.8779773,21.828028,0.00052522873878479,231.71757054328918,375000
77
+ -2.1899347,2.1899347,0.058986887,4.267021,-1.652369,21.09049,0.0005448201656341553,234.4416742324829,380000
78
+ -2.2434356,2.2434356,0.049222194,1.518846,-2.9706376,26.32548,0.0005292575836181641,237.08796572685242,385000
79
+ -2.1840048,2.1840048,0.051853776,1.9495265,-1.9756923,18.655796,0.0005340441703796387,239.75818943977356,390000
80
+ -2.2625563,2.2625563,0.05038653,2.154329,-4.116849,26.52389,0.0005379613399505615,242.44800186157227,395000
81
+ -2.4635172,2.4635172,0.044577386,1.4856672,-1.8364962,21.134413,0.000526216459274292,245.079087972641,400000
82
+ -1.8533418,1.8533418,0.056737196,1.5704315,-1.6903089,20.001019,0.0022049389839172364,256.1037862300873,405000
83
+ -2.3339822,2.3339822,0.04586026,1.1392529,-3.2157946,21.481455,0.0005292034149169922,258.74980664253235,410000
84
+ -2.0953825,2.0953825,0.060934372,1.8650639,-1.2201147,19.104609,0.000517885971069336,261.3392403125763,415000
85
+ -2.187293,2.187293,0.05192391,2.45061,-1.5041695,19.202438,0.0005221560001373291,263.95002460479736,420000
86
+ -2.2522082,2.2522082,0.048477285,1.8441954,-1.7902374,20.616201,0.0005197917461395264,266.54898595809937,425000
87
+ -2.2049954,2.2049954,0.050904732,2.162223,-1.4316745,17.944551,0.000530307674407959,269.2005274295807,430000
88
+ -2.1024055,2.1024055,0.051231794,2.7545462,-4.8057833,29.111237,0.0005339429378509521,271.87024569511414,435000
89
+ -2.2327542,2.2327542,0.054176267,3.2198179,-1.995284,22.527702,0.0005361165523529053,274.55083203315735,440000
90
+ -2.3431227,2.3431227,0.050948016,3.1634421,-2.143794,24.169567,0.0005183186531066894,277.14242815971375,445000
91
+ -2.4556208,2.4556208,0.05007876,1.2715929,-1.0156004,13.5942135,0.0005306694984436036,279.7957787513733,450000
92
+ -2.063691,2.063691,0.056813307,2.1845837,-4.0448294,25.270042,0.0005201940536499023,282.3967525959015,455000
93
+ -2.222752,2.222752,0.05392438,3.8657422,-1.8627598,26.556913,0.0005225066184997558,285.0092890262604,460000
94
+ -2.3422325,2.3422325,0.045645,1.7383487,-2.7513433,22.32314,0.0005298779964447021,287.658682346344,465000
95
+ -2.4451985,2.4451985,0.05034657,0.9813209,-1.520472,17.775478,0.0005324059009552002,290.3207149505615,470000
96
+ -2.2767773,2.2767773,0.055994224,8.587302,-2.7829766,31.571068,0.0005263116836547851,292.95227694511414,475000
97
+ -2.1077833,2.1077833,0.057972144,2.7815132,-2.65661,23.908539,0.0005495285511016846,295.6999225616455,480000
98
+ -2.2949224,2.2949224,0.056817263,2.5757616,-2.9783664,22.716396,0.0005213523864746094,298.30668902397156,485000
99
+ -2.3393414,2.3393414,0.048630636,2.9731297,-2.2106483,22.99457,0.0005215673923492432,300.9145300388336,490000
100
+ -2.5003095,2.5003095,0.05187007,1.767968,-2.250965,25.488869,0.0005420106887817382,303.6245868206024,495000
101
+ -2.3645926,2.3645926,0.05075486,1.7613829,-1.8739586,21.800644,0.0005433436870574952,306.3413100242615,500000
102
+ -2.4271326,2.4271326,0.052884128,4.2808704,-2.4396608,24.674557,0.0022285183429718016,317.48390460014343,505000
103
+ -2.5066595,2.5066595,0.051772516,1.8542056,-1.6208586,18.387598,0.0005217644691467285,320.0927302837372,510000
104
+ -2.1011255,2.1011255,0.054594375,2.194218,-1.0310928,18.549177,0.0005267593383789063,322.72653007507324,515000
105
+ -2.0319095,2.0319095,0.051533036,2.3893447,-6.6326647,23.611103,0.0005292335033416748,325.3727009296417,520000
106
+ -2.2197585,2.2197585,0.05049267,3.0892434,-4.786242,25.041435,0.0005255509853363037,328.00045895576477,525000
107
+ -2.1846824,2.1846824,0.05949553,1.7578993,-2.2614856,16.848322,0.0005315883159637451,330.65840339660645,530000
108
+ -2.2027426,2.2027426,0.053155065,1.3073452,-1.366395,17.75973,0.0005320286750793457,333.3185501098633,535000
109
+ -2.6613774,2.6613774,0.043895073,1.8496289,-1.9770502,15.438177,0.0005484015941619873,336.06056213378906,540000
110
+ -2.4551845,2.4551845,0.05195331,6.863792,-2.8912444,30.09586,0.0005259444236755371,338.690288066864,545000
111
+ -2.5362306,2.5362306,0.05237142,2.3393073,-5.0115614,21.222776,0.0005363854408264161,341.3722186088562,550000
112
+ -2.4822109,2.4822109,0.04817399,1.5570936,-1.33478,18.270704,0.0005258152961730957,344.0012981891632,555000
113
+ -2.271084,2.271084,0.060632132,0.9020849,-1.2775706,17.472502,0.0005234087467193603,346.61834502220154,560000
114
+ -2.166928,2.166928,0.049636163,0.97465444,-1.9449915,15.684141,0.000529487419128418,349.2657859325409,565000
115
+ -2.0081468,2.0081468,0.0591186,2.0062351,-2.5530734,24.996883,0.0005209487915039063,351.87053322792053,570000
116
+ -2.3289661,2.3289661,0.04692344,1.5546987,-4.5898323,18.000319,0.0005258665561676026,354.4998698234558,575000
117
+ -2.4697995,2.4697995,0.050516248,2.7435453,-2.5547636,19.160751,0.0005180974960327148,357.0903606414795,580000
118
+ -2.2754064,2.2754064,0.050382804,2.4782352,-3.1704698,21.340029,0.0005365473270416259,359.7731008529663,585000
119
+ -2.108615,2.108615,0.058691107,2.1217039,-1.2612222,20.404219,0.0005190245151519776,362.36822724342346,590000
120
+ -2.242206,2.242206,0.05659912,3.1242704,-8.240807,36.397785,0.0005296873569488526,365.016667842865,595000
121
+ -2.2940133,2.2940133,0.05293221,1.0611298,-1.7125704,15.34965,0.0005179314613342285,367.6063289642334,600000
122
+ -2.4686923,2.4686923,0.048850648,2.2378652,-2.648912,24.559875,0.0023593267440795897,379.40296602249146,605000
123
+ -2.2833474,2.2833474,0.058618005,1.0569625,-2.8987966,19.12445,0.0005383174419403077,382.0945563316345,610000
124
+ -2.3076346,2.3076346,0.0536412,1.4704255,-1.3237114,17.067259,0.0005298826217651367,384.74397253990173,615000
125
+ -2.2351904,2.2351904,0.05334675,2.7796216,-3.4377565,21.636007,0.0005404068470001221,387.44601011276245,620000
126
+ -2.4360182,2.4360182,0.06188899,1.326369,-1.5244354,18.631302,0.000544047212600708,390.16624903678894,625000
127
+ -2.3823411,2.3823411,0.053332355,2.1568875,-1.8027343,20.475464,0.0005289100170135498,392.8108024597168,630000
128
+ -2.2620654,2.2620654,0.055782944,1.8293717,-1.83919,19.19299,0.0005238075733184815,395.4298436641693,635000
129
+ -2.2727585,2.2727585,0.05204367,1.7854741,-1.9514666,21.31833,0.0005416349887847901,398.1380214691162,640000
130
+ -2.3385875,2.3385875,0.05013133,2.0510921,-1.3384528,19.04153,0.0005332621574401855,400.8043358325958,645000
131
+ -2.1249354,2.1249354,0.06119254,2.375335,-1.049802,16.990116,0.000531184720993042,403.46026253700256,650000
132
+ -2.516573,2.516573,0.04660822,2.0153852,-3.885972,18.127792,0.000517769193649292,406.0491120815277,655000
133
+ -1.9267311,1.9267311,0.05282805,1.478574,-1.1239144,17.735092,0.0005289888381958007,408.69405937194824,660000
134
+ -2.2854705,2.2854705,0.054635473,1.1515948,-1.0172815,17.424593,0.0005233565330505371,411.3108456134796,665000
135
+ -1.9062984,1.9062984,0.061400287,1.793605,-1.4213375,16.777252,0.000517675256729126,413.8992249965668,670000
136
+ -2.3555224,2.3555224,0.05295583,1.6108515,-4.175665,21.210802,0.0005469528198242188,416.63399267196655,675000
137
+ -2.3106747,2.3106747,0.0531678,11.388204,-4.221237,31.451883,0.0005293924808502197,419.28095841407776,680000
138
+ -2.147342,2.147342,0.05796822,3.8753653,-1.946785,18.045025,0.0005390871047973633,421.97639775276184,685000
139
+ -2.3555598,2.3555598,0.04684507,1.5324793,-2.3174708,17.997532,0.0005277775287628174,424.61528849601746,690000
140
+ -2.2176068,2.2176068,0.06007771,0.83560836,-1.2761979,13.208755,0.0005238834381103515,427.23470854759216,695000
141
+ -2.267685,2.267685,0.060330313,1.2918373,-1.2847364,18.715801,0.0005439280509948731,429.95435762405396,700000
142
+ -1.9909279,1.9909279,0.053301662,1.2967529,-2.1310644,19.621138,0.002437427234649658,442.14149832725525,705000
143
+ -2.4685416,2.4685416,0.04763874,1.4554048,-2.8256032,21.902922,0.0005231393337249755,444.75719809532166,710000
144
+ -1.938603,1.938603,0.056011718,2.7483792,-1.8041465,22.26467,0.0005350903511047363,447.43265295028687,715000
145
+ -2.3838923,2.3838923,0.0453213,2.0279658,-2.5517576,18.958595,0.0005282389163970947,450.07385063171387,720000
146
+ -2.285956,2.285956,0.053411078,2.502508,-2.8180006,25.491753,0.0005312076091766358,452.72989225387573,725000
147
+ -2.2711792,2.2711792,0.053486697,4.7088146,-2.5681922,21.048534,0.0005305276393890381,455.3825333118439,730000
148
+ -1.9736726,1.9736726,0.05576045,3.480188,-1.1410334,22.674305,0.0005507816791534423,458.13644456863403,735000
149
+ -2.1472073,2.1472073,0.058827784,3.121641,-6.657879,27.05353,0.0005545369625091553,460.90913248062134,740000
150
+ -2.134731,2.134731,0.051323757,2.4538026,-8.614285,24.273617,0.0005474336624145508,463.64630365371704,745000
151
+ -2.5656595,2.5656595,0.043054372,2.1364152,-2.1516654,17.28315,0.0005354204654693603,466.32340931892395,750000
152
+ -2.4552293,2.4552293,0.04844641,1.059134,-3.1238346,16.579391,0.0005487837314605713,469.0673317909241,755000
153
+ -2.287051,2.287051,0.04910391,0.69320357,-1.0174208,13.6388035,0.0005275151729583741,471.70491099357605,760000
154
+ -2.3063645,2.3063645,0.056602925,2.3556428,-4.6251016,21.66931,0.0005291158676147461,474.3504934310913,765000
155
+ -2.3068552,2.3068552,0.06000052,2.0429325,-2.8403563,19.593578,0.000541017484664917,477.055584192276,770000
156
+ -2.3860424,2.3860424,0.0525831,2.64156,-1.5569032,22.973692,0.0005365859031677246,479.73851680755615,775000
157
+ -2.4093783,2.4093783,0.049655363,2.3930023,-1.9658982,18.693407,0.000556564998626709,482.5213453769684,780000
158
+ -2.4653878,2.4653878,0.044646107,2.4009542,-2.1101732,17.731792,0.0005331188201904296,485.18694257736206,785000
159
+ -2.4774413,2.4774413,0.05501,1.6868294,-1.8970182,18.743385,0.0005374598026275635,487.8742444515228,790000
160
+ -2.1857467,2.1857467,0.05211193,5.1850233,-3.7830672,29.421228,0.0005451910018920899,490.6002039909363,795000
161
+ -2.0372024,2.0372024,0.057604693,1.6501701,-1.7831514,18.7683,0.0005506893634796143,493.3536546230316,800000
162
+ -2.2423134,2.2423134,0.05359761,2.239774,-1.529222,14.557101,0.0022502813339233397,504.605064868927,805000
163
+ -2.2583134,2.2583134,0.05621609,2.4002833,-1.6474116,17.415796,0.0005409746646881104,507.30994057655334,810000
164
+ -1.9842697,1.9842697,0.060436785,1.0826404,-1.2932827,13.187833,0.0005252408981323242,509.9361484050751,815000
165
+ -2.2123184,2.2123184,0.049657293,2.1952777,-1.4398947,18.469845,0.0005277834892272949,512.5750691890717,820000
166
+ -2.1531014,2.1531014,0.050569437,1.262769,-2.3038373,16.095797,0.0005351985454559327,515.2510647773743,825000
167
+ -2.3910959,2.3910959,0.050836723,0.79497695,-2.7931933,15.858299,0.0005379027843475342,517.9405822753906,830000
168
+ -2.0732427,2.0732427,0.054219015,2.1281528,-1.8820729,18.122705,0.0005306470394134522,520.5938215255737,835000
169
+ -2.454371,2.454371,0.05232453,1.1703622,-0.9769246,13.434992,0.000533222484588623,523.2599375247955,840000
170
+ -2.224122,2.224122,0.050899006,2.6707783,-1.8395846,19.281395,0.0005298572540283203,525.9092273712158,845000
171
+ -2.1836112,2.1836112,0.052814107,2.8008225,-1.0228823,17.892776,0.0005430144309997558,528.6243028640747,850000
172
+ -2.2761583,2.2761583,0.0423612,1.1471508,-2.894564,14.214224,0.0005383387565612793,531.3160002231598,855000
173
+ -2.3387885,2.3387885,0.05193676,2.106151,-1.7616135,22.982069,0.0005389397621154785,534.0107026100159,860000
174
+ -2.2480445,2.2480445,0.05511887,0.9444591,-1.1600327,15.530573,0.0005362843990325928,536.6921279430389,865000
175
+ -2.2287679,2.2287679,0.05073049,1.2563853,-1.1854335,15.927405,0.0005264108657836914,539.3241853713989,870000
176
+ -2.4649577,2.4649577,0.050838217,2.4785752,-1.8250616,15.796519,0.0005314465522766114,541.9814212322235,875000
177
+ -2.1172414,2.1172414,0.057284486,6.4299326,-1.9775269,24.932497,0.0005275222301483154,544.6190359592438,880000
178
+ -2.1454983,2.1454983,0.057212442,1.2364886,-0.9305015,15.466939,0.0005372176647186279,547.3051271438599,885000
179
+ -2.3712687,2.3712687,0.048207574,2.1154938,-0.77753764,15.742561,0.000533815336227417,549.9742074012756,890000
180
+ -1.9917908,1.9917908,0.0699697,1.5493983,-2.158146,16.845505,0.000549159574508667,552.7200088500977,895000
181
+ -2.2457342,2.2457342,0.050786205,2.0893104,-1.5395291,15.839492,0.0005353858947753906,555.3969414234161,900000
182
+ -2.4656413,2.4656413,0.04807674,1.3360078,-1.4854097,17.746464,0.0022238720417022705,566.516304731369,905000
183
+ -2.3375885,2.3375885,0.055114806,1.0367258,-0.9996969,12.273365,0.0005309944629669189,569.1712806224823,910000
184
+ -2.102291,2.102291,0.05188478,1.7962767,-1.6096816,18.846817,0.000530690574645996,571.8247394561768,915000
185
+ -2.5041914,2.5041914,0.052482866,1.1699895,-2.3578894,17.560692,0.0005397048950195313,574.5232677459717,920000
186
+ -2.1460671,2.1460671,0.05275243,3.0228395,-2.389985,17.962206,0.0005239366054534912,577.1429538726807,925000
187
+ -2.2657666,2.2657666,0.051005095,1.1204355,-1.5623823,15.666045,0.0005228036880493164,579.7569751739502,930000
188
+ -2.0294867,2.0294867,0.061762244,1.0282133,-1.2116804,15.999216,0.0005359279632568359,582.4366183280945,935000
189
+ -2.2947392,2.2947392,0.0485726,1.7639503,-4.896492,20.279737,0.0005319885730743409,585.0965642929077,940000
190
+ -2.2451477,2.2451477,0.048571765,2.158637,-1.7574987,17.890125,0.0005307049751281739,587.7500929832458,945000
191
+ -2.4149659,2.4149659,0.04770621,3.1952658,-1.2458178,17.993362,0.0005372620582580566,590.4364068508148,950000
192
+ -1.9537168,1.9537168,0.05927923,2.026311,-3.1208682,22.826061,0.0005217276096343994,593.0450489521027,955000
193
+ -2.2825525,2.2825525,0.054715306,4.2818375,-2.4469104,20.192493,0.0005306849479675293,595.6984775066376,960000
194
+ -2.426397,2.426397,0.0457593,1.2096455,-1.9102497,16.81488,0.0005356142997741699,598.3765525817871,965000
195
+ -2.2054582,2.2054582,0.049414575,0.9175581,-2.3118784,14.084984,0.0005241426944732666,600.9972696304321,970000
196
+ -2.3052287,2.3052287,0.05271141,2.1439445,-1.6238832,17.339031,0.0005291234016418457,603.6428904533386,975000
197
+ -2.301168,2.301168,0.05027644,1.874604,-4.9135013,17.350704,0.0005475332260131835,606.3805603981018,980000
198
+ -2.343027,2.343027,0.051368456,4.287606,-1.9978311,20.218267,0.0005384296894073486,609.0727126598358,985000
199
+ -2.132552,2.132552,0.05531315,3.009293,-2.9243915,23.463184,0.0005212360382080078,611.678896188736,990000
200
+ -2.3703372,2.3703372,0.05427308,1.866797,-3.539087,17.711266,0.0005279833316802978,614.3188171386719,995000
201
+ -2.3194876,2.3194876,0.04870669,2.0369072,-1.6012039,19.345457,0.0005327200412750244,616.982421875,1000000
pretrained_models/bc-loco/hopper-medium-v2/sd1/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ 243.95,0.5822920488182985,18.015596397509956,23.25,0.047597074508666994,1.1764341919424632,1
3
+ 6217.0,4.065205476247483,1727.8804639811083,540.8,0.441804301738739,53.71374807975292,100000
4
+ 16925.9,4.035211682035348,1717.7470076069487,543.1,0.44610707759857177,53.402387463840604,200000
5
+ 27980.95,4.051256446327665,1753.5170298838555,553.4,0.4510785460472107,54.50145729313748,300000
6
+ 38707.55,4.131774086123507,1760.1859924016505,552.9,0.4564856290817261,54.706367858730076,400000
7
+ 50026.05,3.9434972792003884,1741.611872703028,551.25,0.44941340684890746,54.13565939205729,500000
8
+ 60783.3,4.041545404718121,1644.5772390213679,516.1,0.42277745008468626,51.15417289896,600000
9
+ 71173.35,4.0075834434295565,1661.6106483326628,519.85,0.42262704372406007,51.67754149289557,700000
10
+ 81853.9,3.92778064799528,1716.7712711772049,546.65,0.46106271743774413,53.37240698289556,800000
11
+ 92604.1,4.074100426380864,1704.6073429960688,532.6,0.43666688203811643,52.99865808315691,900000
12
+ 103752.75,3.917940391491617,1890.793097562097,589.5,0.48563220500946047,58.719402227633,1000000
pretrained_models/bc-loco/hopper-medium-v2/sd1/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 1, "env_name": "hopper-medium-v2", "save_dir": "exp/bc-loco/hopper-medium-v2/20260823_042015_sd1", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/hopper-medium-v2/sd1/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:101dbe642c0ca0a0aa6000395fe673304a92d6a832b051bcdf5fe1ecd37a33ce
3
+ size 859564
pretrained_models/bc-loco/hopper-medium-v2/sd1/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -1.5699489,1.5699489,0.08012005,2.6075678,-3.1230743,44.5586,0.0015466588973999022,7.733296871185303,5000
3
+ -1.2860538,1.2860538,0.07853919,9.492334,-7.323233,75.28952,0.0005437489032745362,10.45204496383667,10000
4
+ -1.7709476,1.7709476,0.0727752,2.0871437,-1.8559183,29.645548,0.0005430640697479248,13.16736888885498,15000
5
+ -1.6645958,1.6645958,0.07956843,3.2868004,-2.1457052,32.321815,0.0005428606510162353,15.881675720214844,20000
6
+ -1.8127332,1.8127332,0.06518531,2.2849913,-2.4586713,28.768562,0.0005717206954956055,18.7402822971344,25000
7
+ -2.045699,2.045699,0.060015664,2.946711,-3.5048375,35.77634,0.0005423661231994629,21.452116012573242,30000
8
+ -2.0195708,2.0195708,0.057389565,3.5257974,-3.4762754,38.05973,0.0005391594886779785,24.147916078567505,35000
9
+ -1.942874,1.942874,0.059233926,2.2492123,-2.741116,28.095314,0.000558709955215454,26.941468715667725,40000
10
+ -1.98282,1.98282,0.05681636,3.1442938,-3.7018342,33.96766,0.0005660227298736572,29.77158522605896,45000
11
+ -1.8608615,1.8608615,0.054741494,2.4610522,-2.5070703,25.958792,0.00055289306640625,32.53605389595032,50000
12
+ -1.8038924,1.8038924,0.06268367,1.9140565,-3.1311712,31.610134,0.0005428556919097901,35.25033497810364,55000
13
+ -2.440174,2.440174,0.04298223,2.2075396,-1.3572407,26.389198,0.0005473812580108643,37.987244844436646,60000
14
+ -1.9197662,1.9197662,0.06760517,4.603238,-4.5590396,40.19844,0.000544838809967041,40.71144199371338,65000
15
+ -2.141086,2.141086,0.056776665,1.8900781,-3.2563238,28.021544,0.0005437727451324463,43.4303092956543,70000
16
+ -2.246234,2.246234,0.048809104,3.5084229,-1.0421419,27.031582,0.0005442063808441162,46.151344299316406,75000
17
+ -2.0570424,2.0570424,0.055847384,4.9936543,-2.6222641,35.3608,0.0005704181671142578,49.003437995910645,80000
18
+ -2.130654,2.130654,0.055830024,4.6742654,-3.0186987,34.447792,0.0005515843868255615,51.76136350631714,85000
19
+ -2.193359,2.193359,0.053550433,1.535681,-4.5117574,36.363625,0.0005535683155059814,54.52920866012573,90000
20
+ -2.2590988,2.2590988,0.050796848,2.8463197,-2.827806,29.352705,0.000537673568725586,57.21757960319519,95000
21
+ -1.9983791,1.9983791,0.059435412,1.9207435,-1.5543585,21.001678,0.0005597381591796875,60.016273975372314,100000
22
+ -2.0713027,2.0713027,0.054987468,2.2527273,-2.3309653,25.549515,0.0023194705963134766,71.6136302947998,105000
23
+ -2.204855,2.204855,0.050272953,2.0409591,-3.708913,37.521706,0.000546818208694458,74.34772515296936,110000
24
+ -2.124442,2.124442,0.054873236,4.3186255,-2.6704822,29.539028,0.0005618237018585206,77.15684676170349,115000
25
+ -2.0981042,2.0981042,0.067574754,1.5075629,-1.6689914,24.919086,0.0005491774559020996,79.9027373790741,120000
26
+ -2.3787634,2.3787634,0.054001763,4.7608175,-3.4927506,29.68049,0.0005817054271697998,82.8112678527832,125000
27
+ -1.8674248,1.8674248,0.06796574,3.2648292,-2.8750756,26.96201,0.000565541934967041,85.63898086547852,130000
28
+ -2.2818737,2.2818737,0.04717895,1.6964704,-1.7699072,21.29316,0.0005572977066040039,88.42547225952148,135000
29
+ -2.3240428,2.3240428,0.05096928,2.0886743,-3.0379467,26.126242,0.000561039400100708,91.23067283630371,140000
30
+ -1.8993945,1.8993945,0.052294042,1.2962673,-2.516591,29.71357,0.0005498878479003906,93.98011612892151,145000
31
+ -2.65733,2.65733,0.050892383,2.2737372,-2.7453194,27.537746,0.0005493028640747071,96.72663402557373,150000
32
+ -2.2034843,2.2034843,0.051665626,4.386075,-2.2274024,33.766914,0.0005701904773712158,99.57758927345276,155000
33
+ -1.9301863,1.9301863,0.06026996,2.8349879,-2.004727,27.500874,0.0005497406482696533,102.32629585266113,160000
34
+ -2.2166452,2.2166452,0.05356748,3.585812,-3.8640902,35.40082,0.0005612080574035644,105.13233923912048,165000
35
+ -2.2183266,2.2183266,0.053170603,1.3722962,-1.300678,18.193443,0.0005494914054870605,107.87979984283447,170000
36
+ -1.9433681,1.9433681,0.05449678,2.2495651,-3.3388212,28.65963,0.0005689345836639404,110.72447657585144,175000
37
+ -2.1053693,2.1053693,0.05012103,2.3820243,-2.6591673,24.853615,0.000542528486251831,113.43712258338928,180000
38
+ -2.2499852,2.2499852,0.05387818,2.6471415,-1.3495996,25.783167,0.0005476010799407959,116.17513132095337,185000
39
+ -2.301621,2.301621,0.047893792,2.279753,-1.4402268,24.08595,0.0005473360061645508,118.91181445121765,190000
40
+ -2.2549176,2.2549176,0.06455311,1.5188131,-2.6012347,28.558933,0.0005423375606536865,121.62350487709045,195000
41
+ -2.4563622,2.4563622,0.046035312,1.5393709,-1.4532633,19.708858,0.0005462968826293945,124.35499262809753,200000
42
+ -2.1229553,2.1229553,0.055556163,3.1587796,-2.6589732,29.700504,0.002328665256500244,135.99832201004028,205000
43
+ -2.2435563,2.2435563,0.057736278,4.3205285,-2.8143377,29.491375,0.0005581259250640869,138.7889552116394,210000
44
+ -2.2789116,2.2789116,0.04639461,1.6691146,-3.3699706,25.377129,0.0005466760158538819,141.52233862876892,215000
45
+ -2.0300546,2.0300546,0.055097338,2.3343918,-3.0960374,24.346334,0.0005662936687469483,144.35380959510803,220000
46
+ -2.1751275,2.1751275,0.059654705,2.7516725,-2.13812,21.70579,0.0005569680213928222,147.1386535167694,225000
47
+ -1.9318466,1.9318466,0.062163644,3.7482421,-3.9494953,32.32166,0.0005676007747650146,149.97666096687317,230000
48
+ -2.1221266,2.1221266,0.05435612,2.4827619,-2.660551,25.889977,0.0005494688034057617,152.72400999069214,235000
49
+ -2.0365376,2.0365376,0.05853861,2.8164225,-1.2913369,24.950687,0.0005511189937591552,155.47960877418518,240000
50
+ -2.2198515,2.2198515,0.054254763,2.566506,-2.1237156,27.918882,0.0005483005046844482,158.22111439704895,245000
51
+ -1.7667273,1.7667273,0.06573716,3.4713836,-2.4921374,28.506453,0.0005653668880462647,161.04795217514038,250000
52
+ -2.2257757,2.2257757,0.05052335,1.4941262,-1.9002252,20.635601,0.000551063871383667,163.80327486991882,255000
53
+ -2.1734948,2.1734948,0.053005617,2.077886,-1.171586,18.897377,0.0005476945400238037,166.54175066947937,260000
54
+ -2.2313023,2.2313023,0.05169588,1.0499449,-2.1514137,20.559103,0.0005430089473724366,169.25679850578308,265000
55
+ -1.9632523,1.9632523,0.059491795,1.1758939,-1.9484003,19.57222,0.0005736485481262207,172.12504410743713,270000
56
+ -2.005852,2.005852,0.053780675,1.4140636,-2.620245,22.204288,0.0005433600425720214,174.84184789657593,275000
57
+ -2.4930682,2.4930682,0.058087394,2.76687,-3.2658682,25.953518,0.0005570446491241455,177.62707471847534,280000
58
+ -2.0702262,2.0702262,0.06020441,4.739522,-2.9444978,28.473974,0.0005606609344482421,180.43038320541382,285000
59
+ -2.275483,2.275483,0.054322027,1.6447285,-2.378292,18.909603,0.0005498891353607178,183.1798312664032,290000
60
+ -2.4480207,2.4480207,0.044815257,1.4301391,-1.9206243,21.32146,0.0005508740901947021,185.93420553207397,295000
61
+ -2.2217917,2.2217917,0.05307179,1.6237155,-1.5010989,22.187782,0.0005448306560516357,188.6583616733551,300000
62
+ -2.5777805,2.5777805,0.043325394,2.5894604,-4.8310757,34.63985,0.0023737911224365233,200.52732062339783,305000
63
+ -2.2397828,2.2397828,0.0552469,1.9005022,-2.388767,23.07167,0.0005698721885681152,203.3766851425171,310000
64
+ -1.9231043,1.9231043,0.056356605,1.8523488,-1.9036818,24.530144,0.0005716122627258301,206.23474955558777,315000
65
+ -1.9025754,1.9025754,0.060927015,1.4143074,-1.8215035,17.624443,0.0005559892654418945,209.01469826698303,320000
66
+ -2.4371572,2.4371572,0.050126445,2.3667111,-2.7203097,25.12988,0.000554776382446289,211.78858399391174,325000
67
+ -2.163796,2.163796,0.05827732,4.6438017,-2.323348,26.817272,0.0005439871311187744,214.50852274894714,330000
68
+ -2.1320379,2.1320379,0.05440746,1.6559169,-2.25513,21.941385,0.0005582110404968261,217.29958128929138,335000
69
+ -2.4182696,2.4182696,0.04920581,2.1571684,-1.6960167,22.153902,0.0005421562194824218,220.01036596298218,340000
70
+ -2.3094358,2.3094358,0.056927763,4.3083158,-2.919981,27.006468,0.0005447804927825928,222.7342734336853,345000
71
+ -2.2646327,2.2646327,0.058571838,1.7743906,-2.1847527,23.43325,0.0005402687549591064,225.4356198310852,350000
72
+ -2.0715961,2.0715961,0.0641713,1.8250914,-2.3587294,23.194239,0.0005551033973693847,228.21114015579224,355000
73
+ -2.0534017,2.0534017,0.05354668,3.808509,-2.4543314,25.869877,0.0005551867961883544,230.98707723617554,360000
74
+ -2.1653793,2.1653793,0.055496644,1.5124593,-1.3605942,16.030645,0.0005804300785064697,233.88923048973083,365000
75
+ -2.5530992,2.5530992,0.048997283,4.7454386,-3.7134979,27.960865,0.0005660737991333008,236.71960258483887,370000
76
+ -2.357401,2.357401,0.05216248,1.6931868,-1.1597068,16.970062,0.0005643421173095703,239.54131627082825,375000
77
+ -2.1928234,2.1928234,0.052357554,2.0526235,-1.2728364,22.23648,0.0005827286243438721,242.45496249198914,380000
78
+ -2.064639,2.064639,0.052732438,1.5222002,-1.7121208,19.780563,0.0005550034523010254,245.22998309135437,385000
79
+ -2.3606465,2.3606465,0.053015094,2.606459,-2.5841398,34.003014,0.000550887680053711,247.98442435264587,390000
80
+ -2.3377235,2.3377235,0.049972814,2.000831,-2.7883036,21.504013,0.0005437638282775879,250.70324635505676,395000
81
+ -2.3903234,2.3903234,0.050601624,2.21946,-1.581293,21.674986,0.0005570065021514893,253.48828220367432,400000
82
+ -2.0207207,2.0207207,0.055256486,1.9332392,-2.0892735,25.148169,0.002414372968673706,265.56015062332153,405000
83
+ -2.3890152,2.3890152,0.04558989,3.5540938,-2.725927,26.95248,0.0005701568603515625,268.4109380245209,410000
84
+ -2.3173552,2.3173552,0.05488352,0.68057525,-1.2228949,18.203789,0.0005593714714050293,271.2077989578247,415000
85
+ -2.3022845,2.3022845,0.05086739,2.4884276,-1.269414,16.537064,0.0005779253005981445,274.09742879867554,420000
86
+ -2.3229833,2.3229833,0.05461569,1.6641928,-3.350234,22.809364,0.0005710628986358643,276.9527461528778,425000
87
+ -2.2998996,2.2998996,0.057654083,1.5359148,-2.744935,18.885866,0.0005571237564086914,279.7383680343628,430000
88
+ -2.0573843,2.0573843,0.05462366,1.7201396,-4.2093744,22.687216,0.000552439022064209,282.5005657672882,435000
89
+ -2.1527338,2.1527338,0.053078115,3.2645931,-3.4283926,24.3983,0.0005574973583221436,285.2880561351776,440000
90
+ -2.133593,2.133593,0.050064996,1.186374,-1.0696033,16.003508,0.0005521150112152099,288.04863452911377,445000
91
+ -2.2339044,2.2339044,0.057039566,3.116153,-6.6410666,35.78782,0.000568720293045044,290.89223885536194,450000
92
+ -2.415563,2.415563,0.05139699,1.531425,-3.2282498,20.015762,0.0005635579586029053,293.7100327014923,455000
93
+ -2.1166291,2.1166291,0.055149596,1.3079963,-1.5795641,16.567398,0.0005525166511535644,296.47261929512024,460000
94
+ -2.380566,2.380566,0.04949045,1.2540497,-1.6707711,18.71858,0.0005539669513702392,299.2424569129944,465000
95
+ -2.087494,2.087494,0.06477966,2.9699814,-2.6733646,22.104784,0.000547100019454956,301.9779601097107,470000
96
+ -2.2428665,2.2428665,0.053293806,1.3968356,-2.3220074,19.628769,0.0005715336799621582,304.8356308937073,475000
97
+ -2.256476,2.256476,0.05105592,3.5064254,-2.5173671,24.251358,0.0005548643112182617,307.60995531082153,480000
98
+ -2.1500077,2.1500077,0.05032475,2.7094731,-2.9967856,21.746626,0.0005489816188812256,310.35486674308777,485000
99
+ -2.3166862,2.3166862,0.052430756,3.2289548,-6.11656,31.097116,0.0005663047790527343,313.1863934993744,490000
100
+ -2.2158136,2.2158136,0.056891054,1.7428433,-2.0028415,20.3601,0.0005528237342834472,315.95051527023315,495000
101
+ -2.5189056,2.5189056,0.047394525,1.057829,-0.8708742,16.30963,0.0005427545070648194,318.6642916202545,500000
102
+ -2.2576818,2.2576818,0.055065714,3.036432,-4.622615,25.257244,0.0023847171783447267,330.5878803730011,505000
103
+ -2.235217,2.235217,0.047055285,4.451844,-2.6131363,24.732254,0.0005538324356079102,333.35704588890076,510000
104
+ -1.9682722,1.9682722,0.056883555,3.1246483,-6.3748007,31.633228,0.0005504944324493408,336.10952067375183,515000
105
+ -2.010865,2.010865,0.06262657,0.8031026,-2.223408,19.774654,0.0005458274841308593,338.8386609554291,520000
106
+ -2.0662289,2.0662289,0.05713313,1.6635985,-1.8519592,19.837414,0.000569766092300415,341.6874957084656,525000
107
+ -2.5019145,2.5019145,0.047700666,1.6192502,-1.9629055,20.775078,0.0005624059200286866,344.49952936172485,530000
108
+ -2.0631258,2.0631258,0.051198564,1.7404953,-1.330384,19.306963,0.0005455548763275146,347.2273075580597,535000
109
+ -2.298361,2.298361,0.04637342,3.76053,-1.8512272,24.968887,0.0005534266948699951,349.9944443702698,540000
110
+ -2.1995018,2.1995018,0.05365674,2.059857,-3.5204926,24.58379,0.0005517865180969238,352.7533805370331,545000
111
+ -2.3281012,2.3281012,0.0514228,8.442972,-3.597515,32.437637,0.0005495161533355712,355.50096464157104,550000
112
+ -2.3707867,2.3707867,0.05827285,1.0700331,-2.2073302,18.704481,0.0005503055095672607,358.2524964809418,555000
113
+ -2.3521008,2.3521008,0.055677634,1.9756386,-2.1500523,19.0239,0.0005395566940307617,360.95028352737427,560000
114
+ -2.3022122,2.3022122,0.046306968,3.141045,-1.7957063,17.84322,0.0005577781677246094,363.7391777038574,565000
115
+ -2.3585782,2.3585782,0.051497966,2.3793423,-3.8591251,30.161776,0.0005565103054046631,366.5217332839966,570000
116
+ -2.1623719,2.1623719,0.056755126,1.8791467,-3.0237746,20.451397,0.0005460018634796143,369.25174617767334,575000
117
+ -2.5509458,2.5509458,0.04521227,1.750165,-1.7489597,16.591724,0.0005560262203216553,372.0318808555603,580000
118
+ -2.1866512,2.1866512,0.05207638,1.5261242,-2.426927,18.181755,0.0005503729820251465,374.78374910354614,585000
119
+ -2.0822496,2.0822496,0.05917419,1.0794612,-0.89527184,17.401573,0.0005627839088439942,377.5976724624634,590000
120
+ -2.108998,2.108998,0.056934398,2.2815294,-2.1396215,26.089886,0.0005535189628601074,380.3652718067169,595000
121
+ -1.9999626,1.9999626,0.05366309,0.9103388,-1.2159586,14.132928,0.0005506229400634766,383.118390083313,600000
122
+ -2.3779306,2.3779306,0.054726906,3.3876686,-1.9493244,27.001097,0.002255524730682373,394.3960168361664,605000
123
+ -2.4388661,2.4388661,0.0457099,2.3833075,-1.352477,17.984945,0.0005420694828033448,397.1063675880432,610000
124
+ -2.4402742,2.4402742,0.047570787,2.7247348,-2.9730804,23.058353,0.0005546702861785889,399.87972235679626,615000
125
+ -2.1753197,2.1753197,0.053945385,1.3029052,-2.4164877,21.400414,0.0005509017944335938,402.6342351436615,620000
126
+ -2.318553,2.318553,0.05351112,2.0035233,-2.2665586,20.387997,0.000557372522354126,405.42110109329224,625000
127
+ -2.1570275,2.1570275,0.05645604,2.2155252,-2.365608,21.705229,0.0005536956310272217,408.1895818710327,630000
128
+ -2.3719192,2.3719192,0.04606004,1.9391323,-2.2090666,26.01165,0.0005590793609619141,410.98498153686523,635000
129
+ -2.2709973,2.2709973,0.049132906,2.086963,-1.9816666,19.548523,0.0005459773063659668,413.7148721218109,640000
130
+ -1.8776149,1.8776149,0.06409675,1.3755187,-1.1118286,16.69186,0.000562065601348877,416.52520298957825,645000
131
+ -2.3450377,2.3450377,0.051223263,3.1086888,-2.3378844,31.135899,0.0005553261280059814,419.301837682724,650000
132
+ -2.1899216,2.1899216,0.052663013,5.8425937,-3.1014905,32.10555,0.0005441926002502441,422.0228044986725,655000
133
+ -2.146923,2.146923,0.060281217,1.9375682,-1.7439303,17.660921,0.0005507814407348633,424.77671456336975,660000
134
+ -2.2840233,2.2840233,0.050107773,1.4772391,-1.4984803,18.942291,0.0005487436294555664,427.5204358100891,665000
135
+ -2.3012712,2.3012712,0.049069434,1.2785339,-2.192823,17.816872,0.0005455560207366944,430.24821972846985,670000
136
+ -2.404036,2.404036,0.04350292,2.0368848,-2.2749083,19.46723,0.000545080852508545,432.9736268520355,675000
137
+ -2.0559247,2.0559247,0.05831191,1.9121097,-0.89736825,16.870304,0.0005631693840026855,435.7894768714905,680000
138
+ -2.402223,2.402223,0.051208228,2.639609,-1.848363,21.296127,0.0005424873352050781,438.50191736221313,685000
139
+ -2.1560812,2.1560812,0.053346567,2.61429,-3.2353373,30.019167,0.0005499317646026612,441.25157928466797,690000
140
+ -2.247728,2.247728,0.045846146,0.93516254,-1.518946,14.159969,0.0005560435771942139,444.0318009853363,695000
141
+ -2.2620134,2.2620134,0.06122474,1.5105201,-1.7477846,17.972208,0.0005537471294403076,446.8005394935608,700000
142
+ -2.2364979,2.2364979,0.047720145,1.5967047,-0.9200733,13.941629,0.002263716983795166,458.1191291809082,705000
143
+ -2.6737788,2.6737788,0.040350497,2.2631204,-2.3550084,20.124245,0.0005627723217010498,460.93299412727356,710000
144
+ -2.0318742,2.0318742,0.057327628,1.0724989,-0.9998397,14.2378435,0.0005558190822601318,463.7120928764343,715000
145
+ -2.168091,2.168091,0.050285332,1.6010873,-1.4942975,18.938648,0.0005612534046173095,466.5183627605438,720000
146
+ -2.2701898,2.2701898,0.0526344,1.6763946,-1.7735778,21.64465,0.0005586055278778077,469.3113942146301,725000
147
+ -2.5309126,2.5309126,0.050273858,1.3014208,-3.2910285,18.549728,0.0005562445640563964,472.0926215648651,730000
148
+ -2.4093356,2.4093356,0.058768194,2.1216724,-0.81458056,17.185188,0.0005476126194000244,474.8306875228882,735000
149
+ -2.1613002,2.1613002,0.059344605,0.8066486,-1.4031863,13.884631,0.0005497883319854737,477.5796320438385,740000
150
+ -2.1186602,2.1186602,0.051039707,0.963264,-1.1717079,12.726181,0.0005589651107788086,480.37446117401123,745000
151
+ -2.2772088,2.2772088,0.053407323,1.6324192,-2.0668006,21.56363,0.0005592761993408203,483.17084550857544,750000
152
+ -2.1896648,2.1896648,0.052082546,2.4157703,-1.2416387,21.047146,0.0005458544254302979,485.90012097358704,755000
153
+ -2.371885,2.371885,0.04819667,1.5253963,-1.8706205,17.027662,0.0005585657119750977,488.6929521560669,760000
154
+ -2.216488,2.216488,0.05878153,4.9768324,-2.693695,23.571507,0.0005561110496520996,491.4735105037689,765000
155
+ -2.2119489,2.2119489,0.04984186,2.079311,-4.4037867,23.92096,0.0005700542449951171,494.32378482818604,770000
156
+ -2.4380841,2.4380841,0.045737933,1.1570573,-1.1045812,13.45442,0.0005620738506317139,497.1341574192047,775000
157
+ -2.2188559,2.2188559,0.05874784,2.4775147,-4.206966,20.724134,0.0005550351619720459,499.90933632850647,780000
158
+ -2.1925745,2.1925745,0.048972063,2.0252998,-1.9348786,18.419712,0.000554771375656128,502.6831967830658,785000
159
+ -2.2486827,2.2486827,0.05445093,2.616149,-1.7899718,17.84024,0.0005588972568511963,505.47768688201904,790000
160
+ -2.5091734,2.5091734,0.04408142,1.5119234,-2.4401526,21.063822,0.0005550317287445068,508.25284934043884,795000
161
+ -2.2797818,2.2797818,0.052136045,2.3767781,-2.6642458,17.702335,0.0005554837226867676,511.03027176856995,800000
162
+ -2.1127079,2.1127079,0.05622607,1.1816531,-1.6058836,15.416022,0.0024022680282592772,523.0416150093079,805000
163
+ -2.318091,2.318091,0.060659748,1.6753203,-1.9744067,21.256039,0.0005531734943389892,525.8074855804443,810000
164
+ -2.2260666,2.2260666,0.053302974,1.5284085,-2.0288208,22.608484,0.0005645179271697998,528.6300783157349,815000
165
+ -2.1063828,2.1063828,0.05443041,1.9466755,-1.3399115,16.052916,0.0005695129871368408,531.4776458740234,820000
166
+ -2.1962023,2.1962023,0.053026192,2.659128,-5.4041944,24.205055,0.000541615629196167,534.1857271194458,825000
167
+ -2.2463348,2.2463348,0.05552582,1.8805114,-2.5712228,21.495903,0.0005510597229003906,536.9410300254822,830000
168
+ -2.0006235,2.0006235,0.061969697,1.3691552,-3.0046637,19.722425,0.0005426813125610351,539.6544394493103,835000
169
+ -2.2555647,2.2555647,0.047025155,2.6145642,-1.5421761,22.878868,0.0005469468593597412,542.389176607132,840000
170
+ -2.1166773,2.1166773,0.04849787,1.96172,-0.9785752,16.405706,0.0005620190143585205,545.1992762088776,845000
171
+ -2.262281,2.262281,0.050459117,1.3842493,-0.9898471,14.078805,0.0005424268245697022,547.9114139080048,850000
172
+ -2.188602,2.188602,0.049752988,2.0225618,-1.9914372,20.818588,0.000560923957824707,550.7160367965698,855000
173
+ -2.17101,2.17101,0.04624019,0.8475268,-1.391738,15.906491,0.0005708739280700683,553.5704100131989,860000
174
+ -2.1479726,2.1479726,0.0618669,1.3899659,-1.537425,18.088877,0.0005504674911499023,556.322751045227,865000
175
+ -2.1587415,2.1587415,0.054364614,4.337248,-2.534729,22.069443,0.0005544078350067139,559.0947933197021,870000
176
+ -2.459159,2.459159,0.05763656,1.9309415,-1.3963276,21.501865,0.0005529901027679444,561.8597476482391,875000
177
+ -2.2171845,2.2171845,0.049039803,3.292696,-4.3178616,20.227026,0.0005518177986145019,564.6188397407532,880000
178
+ -1.9251223,1.9251223,0.059159964,1.0962634,-1.6238455,17.4545,0.0005547923564910888,567.3928048610687,885000
179
+ -2.0203993,2.0203993,0.053586893,2.4302745,-4.7282524,22.559025,0.0005642298221588134,570.2139577865601,890000
180
+ -2.671658,2.671658,0.042045724,1.2807639,-1.1406993,14.414913,0.0005435667991638183,572.9317948818207,895000
181
+ -2.0760467,2.0760467,0.052431278,1.6101618,-4.175235,21.217316,0.0005493127346038818,575.6783626079559,900000
182
+ -2.245445,2.245445,0.057464115,1.9652781,-2.8329787,20.393723,0.0023102092266082765,587.2294118404388,905000
183
+ -2.4344583,2.4344583,0.045104474,2.3618925,-1.4868733,17.71203,0.0005460969924926758,589.9598999023438,910000
184
+ -2.3125753,2.3125753,0.052463263,0.90507144,-1.0049322,12.869108,0.0005519909381866455,592.7198576927185,915000
185
+ -2.233745,2.233745,0.05388729,1.159256,-1.909499,13.948639,0.0005527563095092773,595.4836421012878,920000
186
+ -2.2823071,2.2823071,0.055533405,1.7826478,-1.0472236,15.539378,0.0005471631526947022,598.21946144104,925000
187
+ -2.0903764,2.0903764,0.058725126,1.4821101,-1.0793929,18.984423,0.000557866907119751,601.0087990760803,930000
188
+ -2.4238555,2.4238555,0.051117443,1.3193182,-2.6705525,17.704666,0.0005609025478363037,603.8133156299591,935000
189
+ -2.3493075,2.3493075,0.045860987,2.3365347,-2.660978,25.104055,0.0005485437393188476,606.5560374259949,940000
190
+ -2.141893,2.141893,0.052276533,2.1647959,-1.3984541,18.848917,0.0005449005603790283,609.2805440425873,945000
191
+ -2.1855407,2.1855407,0.058952324,1.7235624,-2.711251,20.429117,0.0005483509063720704,612.0223016738892,950000
192
+ -2.3478994,2.3478994,0.051337656,0.8921494,-0.723237,13.84017,0.0005466408252716064,614.7555096149445,955000
193
+ -2.2295203,2.2295203,0.059930857,4.30429,-2.3397489,27.137384,0.0005533470153808594,617.5222487449646,960000
194
+ -2.2049358,2.2049358,0.051250827,1.0261812,-3.3935256,19.678608,0.0005401430606842041,620.2229671478271,965000
195
+ -2.3823452,2.3823452,0.048320096,0.8848856,-0.9935491,15.949196,0.0005558880805969238,623.0024111270905,970000
196
+ -2.2472,2.2472,0.045151122,1.0997438,-1.5078471,19.649746,0.0005478349685668945,625.7415897846222,975000
197
+ -2.4227002,2.4227002,0.051437676,1.0079486,-0.75046694,13.15914,0.0005508913040161132,628.4960494041443,980000
198
+ -2.3319502,2.3319502,0.044738136,3.783528,-1.6554155,20.095966,0.0005482746601104736,631.2374267578125,985000
199
+ -2.3393316,2.3393316,0.05353184,1.6240008,-3.114936,17.43644,0.000546701717376709,633.9709389209747,990000
200
+ -2.5588443,2.5588443,0.038060702,1.9776087,-3.4328,21.471542,0.0005676026344299316,636.8089549541473,995000
201
+ -2.2313547,2.2313547,0.04737903,1.1507794,-1.1208824,14.825804,0.0005463645458221436,639.540780544281,1000000
pretrained_models/bc-loco/hopper-medium-v2/sd2/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ 825.35,2.8454338985244405,169.84973273932687,80.2,0.10753800868988037,5.841690394994217,1
3
+ 8156.5,4.005446208736875,2003.267252104075,629.6,0.5151860475540161,62.17528349255938,100000
4
+ 19909.55,4.0669473595383945,1678.765361559305,528.65,0.444842004776001,52.20463727135738,200000
5
+ 30035.7,4.190071635130852,1666.9771028090763,520.4,0.4275181770324707,51.84243119186367,300000
6
+ 40931.4,4.114638831869425,1706.5812482829879,535.6,0.43217830657958983,53.059308303890575,400000
7
+ 51595.2,4.026773241281342,1784.3907882324645,561.45,0.45618656873703,55.45008449988838,500000
8
+ 63667.6,3.9524222011412133,2001.9583359751657,625.95,0.5127526998519898,62.13506573101519,600000
9
+ 75774.05,4.093328565077235,1821.6517680539844,578.75,0.4554393529891968,56.5949654959036,700000
10
+ 86424.3,3.9951821418335056,1570.013020411386,492.9,0.4051892638206482,48.863112457763805,800000
11
+ 96653.65,4.05461131406702,1725.871344794258,539.85,0.4538187861442566,53.65201587660711,900000
12
+ 107658.2,3.9642261841463577,1743.4793794374618,549.05,0.4453374743461609,54.19304041049602,1000000
pretrained_models/bc-loco/hopper-medium-v2/sd2/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 2, "env_name": "hopper-medium-v2", "save_dir": "exp/bc-loco/hopper-medium-v2/20260823_043128_sd2", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/hopper-medium-v2/sd2/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cde1744bc78aefe0715ce328f96919865126184e85a80d005afc7e1ed6fd8d94
3
+ size 859564
pretrained_models/bc-loco/hopper-medium-v2/sd2/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -1.4400554,1.4400554,0.07598103,2.6167617,-3.6029599,42.003437,0.0017433159828186035,8.716582775115967,5000
3
+ -1.402106,1.402106,0.0764346,1.8785437,-3.5854983,34.18171,0.0005452778339385987,11.442975521087646,10000
4
+ -1.9452056,1.9452056,0.06486067,6.759973,-4.4099107,41.75111,0.0005472266674041748,14.17911171913147,15000
5
+ -1.8760152,1.8760152,0.06570584,2.5199978,-2.2201662,33.68064,0.0005548262119293213,16.953245639801025,20000
6
+ -1.895173,1.895173,0.059082694,4.2307606,-2.0233517,32.11589,0.0005380291938781738,19.643394947052002,25000
7
+ -1.9601555,1.9601555,0.06180812,2.8181431,-3.0224743,35.41644,0.0005324734687805175,22.305766105651855,30000
8
+ -1.8272729,1.8272729,0.062385183,3.58932,-3.4263482,42.88843,0.0005370520114898682,24.991028785705566,35000
9
+ -1.8092643,1.8092643,0.0633052,2.0762613,-2.0117226,28.738997,0.0005393296718597412,27.68768048286438,40000
10
+ -1.8977058,1.8977058,0.06100192,3.4817908,-1.9100072,36.05122,0.0005397706031799316,30.38654136657715,45000
11
+ -2.1930025,2.1930025,0.0613935,2.6566868,-2.2357607,28.717995,0.0005654481887817383,33.21378684043884,50000
12
+ -2.0511112,2.0511112,0.06182438,2.9736872,-2.5428572,29.990788,0.0005835769176483154,36.13167476654053,55000
13
+ -2.325416,2.325416,0.056642577,2.8621192,-1.9324627,26.186302,0.0005514176368713379,38.888766288757324,60000
14
+ -2.2348733,2.2348733,0.05681645,1.95594,-2.1081543,23.866213,0.0005391047000885009,41.584293603897095,65000
15
+ -1.8767954,1.8767954,0.06768949,1.7714913,-2.3156247,27.166927,0.0005467617034912109,44.3181049823761,70000
16
+ -2.187542,2.187542,0.062960625,2.0360532,-2.9319215,23.984661,0.0005370549201965333,47.003382444381714,75000
17
+ -1.8057897,1.8057897,0.06407556,1.6026908,-1.6397843,23.241606,0.0005314448356628418,49.66060948371887,80000
18
+ -2.1518447,2.1518447,0.054888412,3.7524514,-3.396031,30.63104,0.0005619072437286377,52.47014904022217,85000
19
+ -2.5235944,2.5235944,0.055742376,4.1684113,-2.303403,32.18684,0.0005572472095489502,55.25638771057129,90000
20
+ -1.8976386,1.8976386,0.062072836,1.8023838,-1.5292174,21.132317,0.0005548015594482422,58.03039860725403,95000
21
+ -2.2407923,2.2407923,0.053971246,3.2164183,-4.5454745,35.641457,0.0005499505043029785,60.78015375137329,100000
22
+ -2.0536947,2.0536947,0.05538165,5.834291,-3.5039234,33.58624,0.0026348978996276855,73.95464754104614,105000
23
+ -2.069768,2.069768,0.05880209,3.0129716,-2.314765,27.905487,0.000556282377243042,76.73606300354004,110000
24
+ -2.0760045,2.0760045,0.054871626,3.2158997,-2.5134091,31.036652,0.0005434629440307617,79.45338153839111,115000
25
+ -2.0119047,2.0119047,0.06281527,1.6783412,-4.260274,32.72413,0.000547156286239624,82.18916606903076,120000
26
+ -1.9908644,1.9908644,0.057997756,1.6533178,-1.1288619,20.056662,0.0005497897148132324,84.93811821937561,125000
27
+ -1.9074528,1.9074528,0.06186239,2.325787,-2.424601,23.02281,0.0005555816173553467,87.71602940559387,130000
28
+ -2.3216405,2.3216405,0.047444128,2.288229,-2.1478095,22.966612,0.0005420322895050048,90.426194190979,135000
29
+ -1.9978303,1.9978303,0.06322097,2.1854627,-2.4292703,24.108116,0.0005477957248687744,93.1651771068573,140000
30
+ -2.2835357,2.2835357,0.052468758,3.1045954,-1.670965,23.106728,0.0005792645454406739,96.06150341033936,145000
31
+ -2.4322462,2.4322462,0.047875684,4.0411754,-5.793563,41.366188,0.0005497129440307617,98.8100733757019,150000
32
+ -2.0149412,2.0149412,0.05621793,1.6708374,-1.7878861,21.382189,0.0005380858421325683,101.50050520896912,155000
33
+ -1.8553877,1.8553877,0.06167522,1.7783284,-2.8658984,25.177288,0.0005437106609344482,104.2190613746643,160000
34
+ -2.0817661,2.0817661,0.061983462,3.5617347,-3.7991033,29.838203,0.0005472972869873047,106.95555210113525,165000
35
+ -2.1855628,2.1855628,0.051642593,2.947259,-3.5123487,27.818333,0.0005592092037200927,109.75160193443298,170000
36
+ -2.2212296,2.2212296,0.058586683,1.610336,-2.1691976,21.046482,0.0005463655948638916,112.4834337234497,175000
37
+ -2.0600367,2.0600367,0.057561442,1.4815619,-2.344676,21.97272,0.0005565366268157959,115.26612043380737,180000
38
+ -2.11547,2.11547,0.056097217,1.7686572,-1.56671,20.144167,0.0005596802711486816,118.064523935318,185000
39
+ -2.3727555,2.3727555,0.04942193,1.6180559,-0.9780966,21.502989,0.0005692736148834228,120.91089677810669,190000
40
+ -2.3245044,2.3245044,0.054357342,1.9113712,-2.7559822,23.009016,0.0005552940845489502,123.68737053871155,195000
41
+ -2.1249409,2.1249409,0.05349523,2.069944,-2.0234518,23.813557,0.0005597973346710205,126.48636054992676,200000
42
+ -1.9383471,1.9383471,0.057596356,3.0348868,-2.784794,24.305157,0.0023312132358551023,138.14243030548096,205000
43
+ -2.310825,2.310825,0.049217224,2.3451583,-3.492134,24.742844,0.0005496189594268798,140.89052867889404,210000
44
+ -1.9945717,1.9945717,0.062496334,2.3185205,-2.9976087,23.644875,0.0005497177600860595,143.63912081718445,215000
45
+ -2.2040334,2.2040334,0.05928635,2.7401412,-1.7893312,23.145042,0.000544026517868042,146.35925602912903,220000
46
+ -2.4102812,2.4102812,0.046629112,4.437775,-3.7470305,29.99127,0.0005321507930755615,149.02001357078552,225000
47
+ -2.1094332,2.1094332,0.0537199,2.206306,-1.9845268,25.992008,0.0005400588512420654,151.72031164169312,230000
48
+ -2.1852355,2.1852355,0.053336583,2.9583268,-3.7171586,31.878855,0.0005301403045654296,154.37101674079895,235000
49
+ -2.2636456,2.2636456,0.053640954,2.2229338,-2.2479963,19.186228,0.0005367586612701416,157.05481433868408,240000
50
+ -2.5992064,2.5992064,0.05537486,2.0566192,-1.1561723,21.114986,0.0005594990253448486,159.8523132801056,245000
51
+ -1.9580889,1.9580889,0.053681772,1.3682866,-2.4438024,24.001549,0.0005458607196807861,162.58161973953247,250000
52
+ -2.1590648,2.1590648,0.051323928,2.1542406,-1.6265327,21.580631,0.0005574618339538574,165.36893224716187,255000
53
+ -2.176855,2.176855,0.060642775,3.1347158,-2.7996378,25.98132,0.0005314112186431885,168.02599167823792,260000
54
+ -2.3513618,2.3513618,0.050888788,2.1240592,-1.7916303,21.7228,0.0005394006252288818,170.72299790382385,265000
55
+ -2.1411328,2.1411328,0.056764375,1.8429608,-3.2732089,26.347006,0.0005301243782043458,173.3736228942871,270000
56
+ -2.2993042,2.2993042,0.056509774,2.65565,-1.6322218,23.97871,0.0005324592113494873,176.03592348098755,275000
57
+ -2.1688557,2.1688557,0.05600004,1.7536671,-2.1747484,23.422735,0.000536236572265625,178.71710968017578,280000
58
+ -2.0539813,2.0539813,0.05036688,1.5927567,-1.584087,23.804377,0.0005529345035552979,181.4817852973938,285000
59
+ -2.3602657,2.3602657,0.055088587,3.210683,-5.1623917,32.28544,0.0005375485897064208,184.169531583786,290000
60
+ -2.2378192,2.2378192,0.060453456,2.9220293,-2.0084915,23.729137,0.0005362849235534668,186.85095930099487,295000
61
+ -2.0910206,2.0910206,0.05375893,2.1037936,-1.7465503,20.140549,0.0005307471752166748,189.50469851493835,300000
62
+ -2.3351088,2.3351088,0.051127464,2.6763277,-2.4704058,24.97084,0.0022636822700500487,200.82311296463013,305000
63
+ -2.3541708,2.3541708,0.052660793,1.779647,-2.09692,24.45912,0.0005390723705291748,203.51847863197327,310000
64
+ -2.0455148,2.0455148,0.058999747,5.097643,-2.3256872,29.316813,0.0005500625610351563,206.2687952518463,315000
65
+ -2.4202132,2.4202132,0.048439782,2.9052787,-4.09534,28.468052,0.0005421709537506103,208.97965335845947,320000
66
+ -2.0667255,2.0667255,0.063067466,3.1311035,-3.1651576,22.26836,0.0005408572196960449,211.68394231796265,325000
67
+ -2.2185926,2.2185926,0.04903997,2.13986,-1.4261247,21.570023,0.0005367730140686035,214.3678102493286,330000
68
+ -2.117526,2.117526,0.05639873,2.8932219,-1.9723308,28.115335,0.0005344412803649902,217.04002022743225,335000
69
+ -2.0275936,2.0275936,0.05518218,2.9038339,-2.0911815,28.592705,0.0005358832836151123,219.71943998336792,340000
70
+ -2.3464932,2.3464932,0.05781398,2.3183582,-3.9042935,22.20612,0.000547946834564209,222.4591772556305,345000
71
+ -2.2545,2.2545,0.056641024,2.0387926,-1.626683,22.600838,0.0005421957492828369,225.17015957832336,350000
72
+ -2.3472884,2.3472884,0.053127937,2.0315785,-3.2125804,18.73504,0.0005362322807312012,227.85132479667664,355000
73
+ -2.3210773,2.3210773,0.051785327,1.4447725,-1.2439114,17.93837,0.0005425367832183837,230.56401228904724,360000
74
+ -1.8994827,1.8994827,0.06790983,4.6600604,-2.951669,31.645073,0.0005544680595397949,233.3363552093506,365000
75
+ -2.1421752,2.1421752,0.06082906,1.5030046,-1.1988465,17.977264,0.0005453946113586426,236.06333208084106,370000
76
+ -2.0854745,2.0854745,0.04615143,4.595342,-3.5900846,29.935287,0.0005477190494537354,238.8019299507141,375000
77
+ -2.0532956,2.0532956,0.057197686,1.9734583,-1.4651337,21.18877,0.0005482850551605224,241.54335832595825,380000
78
+ -2.0528483,2.0528483,0.049181543,1.4549457,-1.6492548,21.26199,0.0005554274082183838,244.32049894332886,385000
79
+ -2.354803,2.354803,0.05465298,3.0961502,-2.3385842,23.525574,0.0005540176868438721,247.09059047698975,390000
80
+ -2.432582,2.432582,0.04871329,2.880616,-2.476552,22.708412,0.0005454409599304199,249.81779861450195,395000
81
+ -2.108012,2.108012,0.05205276,2.7390099,-2.32331,18.677952,0.000561597204208374,252.6257872581482,400000
82
+ -1.9760716,1.9760716,0.0586614,1.0148573,-2.3256085,18.88001,0.0022802285194396974,264.02693367004395,405000
83
+ -2.035967,2.035967,0.067238286,3.3404672,-2.084431,21.326395,0.0005584053039550781,266.81896328926086,410000
84
+ -2.2720904,2.2720904,0.055940896,2.4516556,-4.134113,30.368593,0.0005507819652557373,269.572877407074,415000
85
+ -2.3962972,2.3962972,0.04470151,2.665946,-1.9060426,28.484116,0.0005674408912658692,272.4100852012634,420000
86
+ -2.3662105,2.3662105,0.049737267,1.5948237,-2.6449432,24.18597,0.000563070821762085,275.22544264793396,425000
87
+ -2.2573552,2.2573552,0.054029554,2.1697679,-3.5997717,22.62965,0.0005571318149566651,278.0111050605774,430000
88
+ -2.4466393,2.4466393,0.044564646,3.9046524,-2.6621535,22.270823,0.0005554749488830567,280.7884840965271,435000
89
+ -2.1068063,2.1068063,0.059453323,1.8841174,-1.7196214,17.284178,0.0005471621036529541,283.52429819107056,440000
90
+ -2.1773674,2.1773674,0.058667064,1.3754258,-1.683061,17.12151,0.000543785572052002,286.2432289123535,445000
91
+ -2.1771173,2.1771173,0.06486307,0.94792897,-1.7540015,19.08999,0.0005591905117034912,289.0391848087311,450000
92
+ -1.9848002,1.9848002,0.056595676,1.1210933,-0.96959305,16.70113,0.0005357096672058106,291.71773648262024,455000
93
+ -2.1948917,2.1948917,0.058929734,1.3347652,-1.9639091,17.787636,0.0005437125682830811,294.43630170822144,460000
94
+ -1.9416838,1.9416838,0.059432026,1.4285134,-1.2083097,17.293266,0.0005383594512939453,297.1281027793884,465000
95
+ -2.248515,2.248515,0.05070869,1.9695339,-1.0439585,17.112556,0.0005327927112579345,299.79206919670105,470000
96
+ -2.0210173,2.0210173,0.0553047,1.5839223,-2.0484385,17.386858,0.0005598814010620118,302.59147930145264,475000
97
+ -2.3021119,2.3021119,0.048465602,3.3023639,-2.2458868,22.567768,0.0005453927516937256,305.3184471130371,480000
98
+ -2.106929,2.106929,0.054809578,1.3645047,-1.3027155,18.556599,0.0005401795864105225,308.0193476676941,485000
99
+ -2.2284887,2.2284887,0.048780635,1.5512806,-2.6874845,20.93337,0.0005663317203521729,310.8510093688965,490000
100
+ -2.6323316,2.6323316,0.048706695,1.2212988,-1.9809693,20.29607,0.0005304667472839355,313.5033469200134,495000
101
+ -2.1913924,2.1913924,0.058855854,1.2937977,-1.4182656,15.991745,0.0005476814270019532,316.2417573928833,500000
102
+ -2.2709694,2.2709694,0.050558414,1.9525616,-1.513663,19.282593,0.0023728003025054933,328.1057622432709,505000
103
+ -2.081029,2.081029,0.054768126,1.5315685,-2.3984134,23.54562,0.0005354225158691406,330.7828779220581,510000
104
+ -2.3947952,2.3947952,0.04900106,1.7795662,-1.4540873,23.210873,0.0005338577270507812,333.45216941833496,515000
105
+ -2.4754086,2.4754086,0.05254616,1.9274145,-3.7856812,20.739786,0.0005442451000213623,336.1733989715576,520000
106
+ -2.0902689,2.0902689,0.06266877,1.4851722,-2.2613986,24.478153,0.0005348878383636474,338.84784173965454,525000
107
+ -2.2468462,2.2468462,0.06334386,2.447458,-2.4904222,21.584444,0.0005427127361297608,341.5614080429077,530000
108
+ -1.9604247,1.9604247,0.052336078,1.5595297,-1.9125514,18.894135,0.0005420423030853272,344.27162289619446,535000
109
+ -2.1018858,2.1018858,0.059495986,2.2538853,-2.6601794,20.615799,0.0005727953910827637,347.1356031894684,540000
110
+ -2.3096607,2.3096607,0.055425398,4.1046844,-2.9581134,23.175512,0.0005451161861419677,349.8611876964569,545000
111
+ -2.522619,2.522619,0.04596389,0.92737836,-1.1586232,17.655794,0.000547050952911377,352.5964460372925,550000
112
+ -2.0490656,2.0490656,0.050834656,2.027355,-2.0335062,25.87865,0.0005313617706298828,355.25325894355774,555000
113
+ -2.305715,2.305715,0.05429679,2.108949,-1.6159537,21.155525,0.0005561127185821533,358.0338258743286,560000
114
+ -2.2257638,2.2257638,0.055138048,1.0956655,-0.9378735,15.561665,0.0005465683937072754,360.76667070388794,565000
115
+ -2.3589227,2.3589227,0.053961307,1.4236376,-1.2927973,19.01419,0.0005489965915679932,363.51165747642517,570000
116
+ -2.1784697,2.1784697,0.05600076,2.561665,-2.5456371,21.250853,0.0005507691860198975,366.26550698280334,575000
117
+ -2.4226665,2.4226665,0.05537288,2.4979002,-1.8789679,19.7756,0.0005519155979156494,369.0250885486603,580000
118
+ -2.1004658,2.1004658,0.05581159,2.1775672,-2.464551,22.376698,0.0005522140979766846,371.7861626148224,585000
119
+ -2.1066647,2.1066647,0.063698694,1.0463532,-1.5397742,14.921251,0.0005543096065521241,374.5577144622803,590000
120
+ -2.3278036,2.3278036,0.051189892,1.1741593,-2.0988133,19.88139,0.0005614741802215576,377.36508870124817,595000
121
+ -2.2308102,2.2308102,0.05316423,0.9009274,-1.5059862,15.526298,0.0005625431060791015,380.1778082847595,600000
122
+ -2.0562437,2.0562437,0.0528392,3.1349936,-4.114124,23.29204,0.002615949010848999,393.2575566768646,605000
123
+ -2.0529833,2.0529833,0.05716583,2.58306,-1.4554452,20.902243,0.0005626737594604493,396.0709285736084,610000
124
+ -2.2026448,2.2026448,0.05387356,2.6383505,-3.803172,21.774824,0.0005505529880523682,398.82369685173035,615000
125
+ -2.3503652,2.3503652,0.049520727,1.2771721,-2.3520982,17.585836,0.0005506419181823731,401.5769097805023,620000
126
+ -1.9378388,1.9378388,0.056675762,2.9754248,-2.1534305,19.852345,0.0005472078323364258,404.3129527568817,625000
127
+ -2.3133643,2.3133643,0.05486907,1.5177231,-1.2407867,17.180538,0.0005600828647613525,407.1133704185486,630000
128
+ -2.4008808,2.4008808,0.050825097,2.6087637,-2.0324118,26.406744,0.0005685187816619873,409.9559688568115,635000
129
+ -2.322229,2.322229,0.051034197,4.520429,-3.419274,36.955173,0.0005441851139068604,412.67689847946167,640000
130
+ -2.0414822,2.0414822,0.052319936,1.6126119,-1.4560173,18.394032,0.0005369908809661865,415.36185693740845,645000
131
+ -2.3436007,2.3436007,0.056004465,1.611508,-1.4222006,14.430112,0.0005583584308624268,418.1536524295807,650000
132
+ -2.1563818,2.1563818,0.05115045,1.3754683,-2.28894,16.159904,0.00054317045211792,420.86950755119324,655000
133
+ -2.218495,2.218495,0.0540837,3.3602998,-0.80943084,15.61494,0.0005437577247619629,423.5883002281189,660000
134
+ -2.183394,2.183394,0.054477252,2.7357016,-1.6177015,18.464027,0.0005364744663238526,426.27067613601685,665000
135
+ -2.3564692,2.3564692,0.05517698,3.4668949,-2.6962798,23.653267,0.0005526845932006836,429.03410243988037,670000
136
+ -1.898437,1.898437,0.06243413,1.4653695,-1.8639308,20.902569,0.0005634495735168457,431.85135316848755,675000
137
+ -2.4418151,2.4418151,0.050283924,3.614553,-2.17368,21.559504,0.000538498592376709,434.54385018348694,680000
138
+ -2.4249163,2.4249163,0.049582403,1.155865,-1.1495363,14.927118,0.0005369290828704834,437.22849917411804,685000
139
+ -2.2633939,2.2633939,0.057013117,2.8886404,-1.2514825,17.52359,0.0005388755321502686,439.92288041114807,690000
140
+ -2.174546,2.174546,0.051380735,2.0926156,-3.3308573,19.997406,0.0005435345649719239,442.64055585861206,695000
141
+ -2.5394688,2.5394688,0.04884651,1.5307145,-1.4642648,20.58339,0.0005405848026275635,445.3434839248657,700000
142
+ -2.0686045,2.0686045,0.063701205,2.4919512,-1.8600882,28.832243,0.002368144655227661,457.1842112541199,705000
143
+ -2.4036179,2.4036179,0.050313514,1.5597302,-2.0547667,16.800732,0.0005455474853515625,459.91195273399353,710000
144
+ -2.0062609,2.0062609,0.06541699,1.4279569,-1.5579777,15.830393,0.000543776798248291,462.63084173202515,715000
145
+ -2.209178,2.209178,0.05666555,5.337861,-3.1816914,25.657263,0.0005526315689086914,465.39400362968445,720000
146
+ -2.12748,2.12748,0.055409275,1.1754414,-1.0644072,15.076794,0.0005492804050445557,468.14040875434875,725000
147
+ -2.367004,2.367004,0.04917405,1.2959828,-0.94218934,16.070024,0.0005539830684661866,470.9103274345398,730000
148
+ -2.3862963,2.3862963,0.04643179,1.9910287,-1.1051205,19.206635,0.0005457434177398682,473.6390480995178,735000
149
+ -2.4645123,2.4645123,0.047663055,1.2567469,-2.5654001,16.28924,0.0005643247127532959,476.46067476272583,740000
150
+ -2.046101,2.046101,0.06518454,2.5383983,-2.1078162,17.209528,0.000567231035232544,479.2968349456787,745000
151
+ -2.207461,2.207461,0.052896418,3.0771518,-3.2211301,20.228783,0.0005655953407287598,482.1248152256012,750000
152
+ -2.1176298,2.1176298,0.05453538,1.51584,-2.0823846,16.946634,0.0005526593685150147,484.88811564445496,755000
153
+ -2.2032013,2.2032013,0.05758722,1.2340646,-1.1589607,16.576996,0.0005466128826141358,487.62118315696716,760000
154
+ -2.43887,2.43887,0.049788415,3.1163347,-2.4161925,22.4602,0.0005564950466156005,490.40366196632385,765000
155
+ -2.5046287,2.5046287,0.04719193,1.539075,-4.0335755,18.338322,0.0005448966979980468,493.12814927101135,770000
156
+ -2.3487384,2.3487384,0.056500267,1.5235162,-2.5878277,21.402365,0.0005451297760009766,495.8538010120392,775000
157
+ -2.5107136,2.5107136,0.04784082,2.5789514,-3.6014433,19.160772,0.0005577346324920654,498.64247822761536,780000
158
+ -2.091,2.091,0.059063345,2.7429256,-2.5498312,18.998426,0.000556101655960083,501.42299032211304,785000
159
+ -2.2941961,2.2941961,0.048769474,1.7344556,-3.5992,26.339876,0.0005477652072906495,504.16181993484497,790000
160
+ -2.3222938,2.3222938,0.053494178,1.1241975,-1.4595318,16.233212,0.000553255844116211,506.928102016449,795000
161
+ -2.161692,2.161692,0.06220349,2.9284353,-2.4349444,19.91056,0.0005492358684539795,509.67428493499756,800000
162
+ -2.480062,2.480062,0.04784724,1.1496136,-0.70946246,12.205341,0.0021807756423950194,520.5781669616699,805000
163
+ -2.1110692,2.1110692,0.058966752,1.3732816,-1.5317309,14.985105,0.0005521674633026123,523.339008808136,810000
164
+ -2.1378856,2.1378856,0.05671721,4.758696,-3.0301535,24.104767,0.0005504579544067383,526.091302394867,815000
165
+ -2.1701293,2.1701293,0.05327864,1.8393829,-2.8852367,15.299906,0.0005493072032928467,528.8378462791443,820000
166
+ -1.9715652,1.9715652,0.061267458,1.4871793,-1.6125456,19.35533,0.0005467471122741699,531.571585893631,825000
167
+ -2.329445,2.329445,0.05044822,1.1696897,-1.4941361,14.194661,0.0005532362937927247,534.3377709388733,830000
168
+ -2.0916595,2.0916595,0.052307397,2.4661052,-3.6942964,19.569876,0.0005541957378387451,537.1087527275085,835000
169
+ -2.282072,2.282072,0.053903025,1.2328954,-2.0195737,15.398045,0.0005579784393310547,539.8986485004425,840000
170
+ -2.5734472,2.5734472,0.04232223,3.8566952,-2.6964836,21.284834,0.0005547211170196533,542.6722574234009,845000
171
+ -2.6247344,2.6247344,0.040554803,1.4042493,-3.0632195,22.240852,0.0005483865737915039,545.4141933917999,850000
172
+ -2.3435287,2.3435287,0.05092915,3.3496063,-1.6588231,19.177752,0.0005574030876159668,548.2012121677399,855000
173
+ -2.3990784,2.3990784,0.051208995,1.341849,-1.3962857,16.158955,0.0005340753078460693,550.8715918064117,860000
174
+ -2.20895,2.20895,0.05615356,1.3565013,-1.8503343,17.228226,0.000537682580947876,553.5600075721741,865000
175
+ -2.380752,2.380752,0.047947645,1.2441069,-2.6422513,16.434505,0.0005473145008087158,556.2965853214264,870000
176
+ -2.124753,2.124753,0.061410777,1.7335846,-3.6461759,19.73467,0.000547318696975708,559.0331826210022,875000
177
+ -2.2644894,2.2644894,0.05445058,1.9824378,-3.0910826,18.229433,0.0005559964179992676,561.8131675720215,880000
178
+ -2.1758153,2.1758153,0.050136816,1.7874881,-3.0423229,17.43061,0.0005389062404632569,564.5077018737793,885000
179
+ -2.1926036,2.1926036,0.055075206,1.4662857,-0.8338009,15.50155,0.0005359042644500732,567.1872265338898,890000
180
+ -2.3953133,2.3953133,0.050637707,1.904877,-1.9439757,20.283041,0.0005402160167694092,569.8883099555969,895000
181
+ -2.2041988,2.2041988,0.057766333,1.4822114,-1.0813842,16.969458,0.0005339915752410889,572.5582709312439,900000
182
+ -2.1424997,2.1424997,0.051681817,1.3763824,-1.1231202,16.565212,0.0023981833934783934,584.5491917133331,905000
183
+ -2.2699442,2.2699442,0.04965807,1.1025805,-1.3199089,15.965203,0.0005593392848968506,587.3458919525146,910000
184
+ -2.143086,2.143086,0.062363587,1.7944989,-1.3049362,17.466776,0.0005587170600891113,590.1394808292389,915000
185
+ -2.3374557,2.3374557,0.047690697,1.0499898,-1.2599573,15.520693,0.0005591643333435058,592.935305595398,920000
186
+ -2.3453574,2.3453574,0.055559747,1.7859809,-2.655607,16.18501,0.0005774061679840088,595.8223402500153,925000
187
+ -2.4976664,2.4976664,0.05401122,4.660645,-4.3195567,22.376175,0.0005565076351165772,598.6048817634583,930000
188
+ -2.2841241,2.2841241,0.05768521,1.7698207,-1.8135729,16.275387,0.0005684563159942627,601.4471673965454,935000
189
+ -2.46521,2.46521,0.048740216,1.8558042,-1.397386,21.536146,0.0005461847782135009,604.1780948638916,940000
190
+ -2.3203797,2.3203797,0.055432122,3.0931873,-1.6210911,19.296413,0.0005583417892456055,606.9698071479797,945000
191
+ -2.2933164,2.2933164,0.053656276,1.2320727,-0.86482006,14.551502,0.0005601737022399902,609.7706797122955,950000
192
+ -1.8955965,1.8955965,0.06402518,1.4844054,-3.3541498,19.848423,0.0005539318561553955,612.5403416156769,955000
193
+ -2.0277264,2.0277264,0.056930117,1.825913,-3.5826273,20.531569,0.0005668606758117675,615.374648809433,960000
194
+ -2.143847,2.143847,0.05318503,1.0482728,-1.4179469,13.121398,0.0005460158348083496,618.1047315597534,965000
195
+ -2.2944856,2.2944856,0.04630416,1.2016188,-1.1867336,19.296133,0.0005356479167938232,620.782975435257,970000
196
+ -2.1886725,2.1886725,0.05378024,1.118764,-1.6778808,13.507027,0.0005365246772766113,623.465601682663,975000
197
+ -2.0465803,2.0465803,0.064042464,2.3288867,-3.5385814,17.235628,0.0005494637966156006,626.2129237651825,980000
198
+ -2.0489023,2.0489023,0.05958487,3.2416525,-2.294271,19.520779,0.000550195837020874,628.963906288147,985000
199
+ -2.40876,2.40876,0.054787472,3.6082861,-0.9704651,21.750326,0.0005402812957763671,631.6653158664703,990000
200
+ -2.3463879,2.3463879,0.048446342,2.6139925,-1.776987,19.386532,0.0005465892314910889,634.3982653617859,995000
201
+ -2.206305,2.206305,0.049363025,1.617682,-2.5119414,17.66592,0.0005593174457550049,637.194855928421,1000000
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd0/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ 1154.95,-0.9950303005947225,2.3874387301301683,108.95,0.1229696273803711,0.016521130167068358,1
3
+ 3703.15,3.8670106628209937,460.4897288339445,171.3,0.13503135442733766,9.995504396494212,100000
4
+ 7508.5,3.7583308697177396,483.21646872474986,184.45,0.1613396406173706,10.490567970651682,200000
5
+ 12525.15,3.6993401007465474,825.0843732928355,280.4,0.2419852614402771,17.93758182034482,300000
6
+ 19034.6,3.8634260835077945,1067.4215267939878,359.0,0.30429484844207766,23.216486667228097,400000
7
+ 26159.6,3.2236790203799677,921.3842539375997,357.85,0.29688884019851686,20.035311777742827,500000
8
+ 31765.45,4.257967789617663,535.7672358913323,225.45,0.18972413539886473,11.635297515813182,600000
9
+ 37972.4,2.2765438910222016,630.0924330120114,375.7,0.3133337378501892,13.69001233386606,700000
10
+ 45276.9,4.188396701472934,1112.0536193245143,383.3,0.3214011311531067,24.188721284091407,800000
11
+ 52599.85,3.865143912799062,1294.665767035027,445.6,0.37218326330184937,28.16661793642708,900000
12
+ 62776.05,4.220361305838823,1173.2064232112334,393.05,0.3221692681312561,25.520831644282506,1000000
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd0/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 0, "env_name": "walker2d-medium-replay-v2", "save_dir": "exp/bc-loco/walker2d-medium-replay-v2/20260823_044237_sd0", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd0/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f61fce629722f5fb553e35a62adbe0e19211b14f16cb1560b71911280b2de3c1
3
+ size 896500
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd0/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -1.8658756,1.8658756,0.16146278,0.591603,-0.7771094,19.153412,0.0021388310909271242,10.694158792495728,5000
3
+ -1.7956443,1.7956443,0.16225399,1.0019454,-0.6040486,20.80188,0.0005767531871795654,13.577928066253662,10000
4
+ -2.1705174,2.1705174,0.14092201,0.77270293,-1.7361157,22.590141,0.0005485109329223633,16.320485830307007,15000
5
+ -2.2571728,2.2571728,0.16090068,0.8138245,-0.82815415,19.390297,0.0005598758220672608,19.11986804008484,20000
6
+ -1.8607539,1.8607539,0.13800617,1.5879778,-0.81984925,20.704208,0.0005567308902740478,21.903525829315186,25000
7
+ -2.5528617,2.5528617,0.14127028,1.1065392,-1.167248,22.570498,0.0005491848468780517,24.649452686309814,30000
8
+ -2.1719785,2.1719785,0.1251325,0.73544455,-1.0442351,21.019842,0.0005459530830383301,27.379221439361572,35000
9
+ -1.9199454,1.9199454,0.15670857,1.3304096,-0.9958483,19.911232,0.0005391229152679443,30.074839115142822,40000
10
+ -2.7142,2.7142,0.13440053,0.8625207,-1.1118091,19.683002,0.0005407676219940185,32.778680086135864,45000
11
+ -2.4825304,2.4825304,0.15185437,0.9009787,-1.4716456,20.524826,0.0005594794750213623,35.576080560684204,50000
12
+ -2.2034674,2.2034674,0.117502496,0.98341435,-1.0174042,21.595375,0.0005723408222198486,38.437787771224976,55000
13
+ -2.7962816,2.7962816,0.1166341,1.05071,-1.0118083,20.380774,0.0005461921691894532,41.16875243186951,60000
14
+ -3.0223773,3.0223773,0.12715164,1.462481,-0.81052005,21.003363,0.0005534643173217773,43.93607711791992,65000
15
+ -2.4020371,2.4020371,0.14501473,1.0882719,-1.2104145,21.901949,0.0005386617660522461,46.62938952445984,70000
16
+ -2.5921102,2.5921102,0.124280974,0.66845816,-0.8654118,18.873531,0.0005385945320129394,49.322365522384644,75000
17
+ -2.5496335,2.5496335,0.14200714,1.0161821,-1.4098588,22.328346,0.0005408825397491455,52.02678108215332,80000
18
+ -3.2386336,3.2386336,0.13108933,0.9427694,-0.9082582,21.891012,0.000535924482345581,54.706406354904175,85000
19
+ -1.9808103,1.9808103,0.14903492,0.961079,-0.9493242,19.469334,0.000550627088546753,57.45954513549805,90000
20
+ -2.2418954,2.2418954,0.11895826,1.1920606,-0.9360731,19.975616,0.0005722809791564942,60.32095289230347,95000
21
+ -2.1009862,2.1009862,0.13206987,0.88662624,-0.8189248,18.021395,0.0005560619831085205,63.10126566886902,100000
22
+ -2.7041368,2.7041368,0.14181495,0.9456435,-1.1402953,21.726318,0.0010985294342041015,68.59391593933105,105000
23
+ -2.6373334,2.6373334,0.118535094,1.1520535,-0.78201187,21.096954,0.0005508312702178955,71.3480761051178,110000
24
+ -2.2689795,2.2689795,0.120419376,1.5735588,-1.3815103,26.34881,0.0005554633140563965,74.12539649009705,115000
25
+ -2.823422,2.823422,0.1225127,1.1701896,-1.1877688,19.924215,0.0005485140800476074,76.86797022819519,120000
26
+ -2.433877,2.433877,0.12779206,2.3802466,-1.1677074,24.42889,0.0005531233787536621,79.63359069824219,125000
27
+ -2.6402364,2.6402364,0.13133086,0.97668594,-1.2370001,22.32346,0.0005335975646972656,82.30158281326294,130000
28
+ -2.5567183,2.5567183,0.13753109,1.0861499,-1.5918937,21.485353,0.0005392467021942139,84.99782013893127,135000
29
+ -2.9365284,2.9365284,0.10681685,1.3181152,-1.4696188,21.55677,0.0005396824359893799,87.69623517990112,140000
30
+ -2.134539,2.134539,0.12925513,2.1187289,-0.63310695,18.413155,0.0005513647079467773,90.45306158065796,145000
31
+ -2.8434157,2.8434157,0.11989713,0.9992366,-2.0683799,20.541655,0.0005440629005432129,93.17337965965271,150000
32
+ -2.5494442,2.5494442,0.13687833,1.2285283,-1.1928475,19.385378,0.0005509427547454834,95.92809629440308,155000
33
+ -2.6471944,2.6471944,0.13046286,0.8624244,-0.8175634,18.36403,0.0005435596942901612,98.64589738845825,160000
34
+ -2.8714204,2.8714204,0.11561161,1.4084852,-1.7023255,20.361559,0.0005455265045166015,101.37353348731995,165000
35
+ -2.7158544,2.7158544,0.11687,0.99734145,-1.4254624,21.126003,0.0005507160663604737,104.12711668014526,170000
36
+ -2.5805888,2.5805888,0.13002141,1.6570054,-0.9393727,22.220568,0.0005435941219329833,106.84509134292603,175000
37
+ -2.5375612,2.5375612,0.14704984,1.2430516,-1.0124855,22.25254,0.0005370698928833008,109.53044486045837,180000
38
+ -2.6863077,2.6863077,0.12210413,1.5475916,-1.0808909,22.035036,0.0005498103141784668,112.27949976921082,185000
39
+ -2.718442,2.718442,0.11327808,1.3161987,-1.4188799,21.840097,0.0005742039203643799,115.15052199363708,190000
40
+ -2.9018507,2.9018507,0.1326761,0.89204055,-1.3427631,20.997635,0.0005684609889984131,117.99283027648926,195000
41
+ -2.2215157,2.2215157,0.12890619,1.4965718,-2.6246026,22.026556,0.0005750848770141602,120.86825776100159,200000
42
+ -3.1466436,3.1466436,0.11382582,1.0909233,-1.1714206,20.720394,0.0012019569873809813,126.87804627418518,205000
43
+ -3.2588692,3.2588692,0.120132945,1.9542543,-1.8376011,23.137583,0.0005423614501953124,129.58985710144043,210000
44
+ -2.369987,2.369987,0.14079389,1.3825933,-1.3366922,23.121021,0.0005600831508636475,132.39027667045593,215000
45
+ -2.6328578,2.6328578,0.12648436,1.8724234,-2.071641,22.204935,0.0005466882705688476,135.1237211227417,220000
46
+ -2.7281666,2.7281666,0.12864774,1.1642851,-0.89200664,20.802387,0.0005514023780822754,137.88073658943176,225000
47
+ -2.6691093,2.6691093,0.13196878,0.98628706,-1.2742976,19.025452,0.0005538392543792725,140.64993596076965,230000
48
+ -2.5185208,2.5185208,0.11231451,1.6276392,-1.126522,20.03827,0.0005440109252929687,143.36999416351318,235000
49
+ -2.4993918,2.4993918,0.13588212,0.86303806,-0.8885868,19.485256,0.0005484378337860108,146.11218762397766,240000
50
+ -2.621749,2.621749,0.12692115,1.0720046,-1.1823226,20.952873,0.0005381546497344971,148.80296421051025,245000
51
+ -2.540269,2.540269,0.13063654,1.6626118,-1.7109212,22.86052,0.0005565360069274902,151.5856478214264,250000
52
+ -2.6292026,2.6292026,0.12018609,1.7037536,-1.2063911,20.08859,0.0005415140628814698,154.29322147369385,255000
53
+ -2.3602796,2.3602796,0.12781832,0.6495734,-0.874647,20.083765,0.0005577076435089111,157.0817630290985,260000
54
+ -3.268165,3.268165,0.118976265,1.0063077,-1.4217021,21.760168,0.0005434963226318359,159.79924845695496,265000
55
+ -2.954675,2.954675,0.1340643,1.6496538,-3.731933,21.644333,0.0005433544635772706,162.51602435112,270000
56
+ -3.2097635,3.2097635,0.124786675,1.4393327,-1.2281773,18.554705,0.0005419858455657959,165.22595810890198,275000
57
+ -3.015799,3.015799,0.11655756,0.81097144,-0.9194308,18.08194,0.0005322731971740723,167.88732743263245,280000
58
+ -3.0126119,3.0126119,0.12993395,0.89214736,-1.2252824,20.418972,0.0005529816150665283,170.65223813056946,285000
59
+ -2.279203,2.279203,0.12334748,0.9382678,-1.0437403,18.715843,0.0005412292957305908,173.35838842391968,290000
60
+ -2.6663098,2.6663098,0.13126,1.5880481,-1.9547161,18.669987,0.0005371720314025879,176.04425168037415,295000
61
+ -2.5597801,2.5597801,0.1145248,1.0038699,-1.0310305,19.259321,0.0005455784797668457,178.77214765548706,300000
62
+ -2.8550417,2.8550417,0.12934992,0.8332755,-0.71531004,19.004969,0.0015235979557037353,186.390141248703,305000
63
+ -2.8275056,2.8275056,0.13508502,1.090954,-0.901248,19.565104,0.000541054916381836,189.09541988372803,310000
64
+ -2.4105978,2.4105978,0.14219071,0.81212085,-1.5327924,21.162569,0.0005442887306213379,191.81686663627625,315000
65
+ -3.0675213,3.0675213,0.11707178,1.1366824,-1.2785507,18.175816,0.000539620018005371,194.51496982574463,320000
66
+ -2.8198576,2.8198576,0.1212015,1.5484642,-1.194607,20.215187,0.0005480043411254883,197.25499510765076,325000
67
+ -3.0523915,3.0523915,0.12395179,2.6201453,-1.5431404,21.942383,0.0005515615463256836,200.01280665397644,330000
68
+ -2.4447463,2.4447463,0.14742638,1.0335504,-0.91513306,19.644058,0.0005537037372589112,202.78132891654968,335000
69
+ -3.1328812,3.1328812,0.12457143,2.0014913,-1.9897226,21.058222,0.000554370927810669,205.55318665504456,340000
70
+ -2.7666998,2.7666998,0.11686699,1.0844413,-2.0658717,21.112114,0.0005417725086212158,208.26205277442932,345000
71
+ -3.180014,3.180014,0.10849746,1.7129382,-0.8990456,20.42616,0.0005462448596954346,210.99328136444092,350000
72
+ -2.6935616,2.6935616,0.123077266,2.158695,-2.1230285,21.5432,0.000544110631942749,213.7138376235962,355000
73
+ -3.1891022,3.1891022,0.102390885,1.1156846,-1.0541798,20.48528,0.0005475545406341553,216.45161843299866,360000
74
+ -3.147006,3.147006,0.11298898,1.1762494,-1.0684283,18.948915,0.000557274341583252,219.23799443244934,365000
75
+ -2.962551,2.962551,0.108917795,1.2031142,-1.1425924,20.919714,0.0005459666728973389,221.9678316116333,370000
76
+ -2.6075687,2.6075687,0.13365218,1.9033787,-1.8273232,21.405466,0.0005544187068939209,224.739928483963,375000
77
+ -3.2229714,3.2229714,0.10000288,1.3713018,-1.6890789,22.631021,0.0005495265483856202,227.48756456375122,380000
78
+ -3.326404,3.326404,0.09522234,1.5825338,-0.7997594,18.278042,0.0005480034351348877,230.22758531570435,385000
79
+ -2.8990045,2.8990045,0.107996635,2.369202,-1.3744674,23.201014,0.0005610004425048829,233.0325915813446,390000
80
+ -2.786555,2.786555,0.10371761,1.2093416,-1.1114717,19.249136,0.0005524368286132813,235.7947793006897,395000
81
+ -3.1799724,3.1799724,0.10278414,1.878001,-3.106525,23.109438,0.0005563217639923095,238.5763921737671,400000
82
+ -2.433659,2.433659,0.13869429,1.4912921,-1.4262408,20.235916,0.001776441764831543,247.4586043357849,405000
83
+ -2.4356098,2.4356098,0.11668035,1.1308517,-1.5361946,20.792141,0.0005397965908050537,250.15759110450745,410000
84
+ -3.5407999,3.5407999,0.1239598,1.6714422,-1.3037806,19.142532,0.0005596544742584228,252.9558663368225,415000
85
+ -2.5609024,2.5609024,0.12116637,1.0895172,-1.2437378,20.268316,0.0005498549461364746,255.70514464378357,420000
86
+ -2.7288272,2.7288272,0.118254624,2.2295117,-1.478165,20.860203,0.0005351263046264648,258.380779504776,425000
87
+ -2.688846,2.688846,0.12791067,1.1916704,-0.987285,19.13797,0.0005430736064910888,261.09615087509155,430000
88
+ -2.7173061,2.7173061,0.11140646,1.8865162,-1.2445196,19.805294,0.0005529377937316894,263.86084365844727,435000
89
+ -2.5644536,2.5644536,0.12121479,0.9548413,-0.90201557,20.468235,0.0005541807651519775,266.6317505836487,440000
90
+ -2.919676,2.919676,0.105729006,1.3244685,-1.1334167,20.466394,0.0005417604923248291,269.3405559062958,445000
91
+ -2.6861053,2.6861053,0.12333731,1.5527456,-1.7328961,21.743132,0.0005387204647064209,272.034161567688,450000
92
+ -3.2888794,3.2888794,0.11557014,2.3323545,-1.3448399,19.30293,0.0005382798194885253,274.72556376457214,455000
93
+ -3.0867276,3.0867276,0.118521795,1.7268952,-1.9263875,19.711998,0.0005474686622619629,277.4629099369049,460000
94
+ -2.7774158,2.7774158,0.1089247,1.0486927,-1.1009704,18.584774,0.0005482937812805175,280.204381942749,465000
95
+ -3.0792332,3.0792332,0.10429403,1.2191882,-0.96241975,19.054203,0.0005684401512145996,283.0465862751007,470000
96
+ -3.0144677,3.0144677,0.11555068,1.0761501,-1.0405524,20.150545,0.0005631281852722168,285.8622303009033,475000
97
+ -3.1098633,3.1098633,0.103587314,0.88932455,-0.83970565,19.53624,0.0005526302814483642,288.62538504600525,480000
98
+ -3.069981,3.069981,0.10194981,1.4964366,-1.1444883,19.869251,0.0005547039985656739,291.3989083766937,485000
99
+ -3.1128674,3.1128674,0.103396855,0.97382325,-1.5973353,18.722528,0.0005567479133605957,294.1826505661011,490000
100
+ -3.1666923,3.1666923,0.11409088,1.4295073,-1.4935368,20.219603,0.0005466145992279053,296.91572666168213,495000
101
+ -2.8371847,2.8371847,0.12176668,1.6023947,-1.5591378,18.498028,0.0005608561515808105,299.72001028060913,500000
102
+ -3.10677,3.10677,0.12842882,2.5015311,-1.5715369,23.382107,0.0017549910068511963,308.4949676990509,505000
103
+ -3.3236334,3.3236334,0.10747944,1.002747,-1.2938402,19.11105,0.0005705989837646485,311.34796619415283,510000
104
+ -2.4911833,2.4911833,0.14638105,1.3383036,-1.3071928,19.334675,0.0005519277572631836,314.1076080799103,515000
105
+ -2.9385736,2.9385736,0.11681633,1.1199096,-1.2215059,18.68518,0.000556359338760376,316.88940930366516,520000
106
+ -2.2787342,2.2787342,0.13504419,1.1667432,-0.95542693,19.335482,0.0005577035427093505,319.67793130874634,525000
107
+ -3.2523556,3.2523556,0.11671292,1.4653347,-2.0480874,19.846516,0.0005423319339752197,322.38959407806396,530000
108
+ -2.9998848,2.9998848,0.11218503,2.2813582,-1.4667251,19.457739,0.0005571730613708496,325.17546248435974,535000
109
+ -3.0284777,3.0284777,0.10995494,1.5729764,-1.6391542,20.714237,0.000533711290359497,327.84402203559875,540000
110
+ -3.370049,3.370049,0.12471776,1.1995122,-1.1942219,21.374714,0.0005582842350006104,330.63544631004333,545000
111
+ -2.5779123,2.5779123,0.12963904,1.4858893,-1.2435305,19.510035,0.0005613153457641602,333.4420258998871,550000
112
+ -2.8841767,2.8841767,0.11988674,1.8367522,-1.8003937,20.381723,0.0005438933372497558,336.16149520874023,555000
113
+ -3.1798124,3.1798124,0.11703719,1.1068333,-1.3800583,20.130646,0.0005586033344268799,338.95451521873474,560000
114
+ -3.3304343,3.3304343,0.12168088,0.8321199,-1.4239017,18.056961,0.0005770899772644043,341.83996844291687,565000
115
+ -2.6622596,2.6622596,0.12067618,1.1441399,-1.3992496,19.394241,0.0005727602005004882,344.70377230644226,570000
116
+ -2.8845012,2.8845012,0.111900106,1.879633,-1.5734013,20.843609,0.0005740816116333008,347.5741844177246,575000
117
+ -2.5868912,2.5868912,0.127381,1.7125595,-1.2210567,23.287556,0.0005687981605529785,350.41817831993103,580000
118
+ -2.9842205,2.9842205,0.109948836,0.88329273,-1.2462282,22.673159,0.0005786289215087891,353.31132531166077,585000
119
+ -2.6746373,2.6746373,0.12660843,1.0085953,-1.1244916,20.553143,0.0005552149295806885,356.0874035358429,590000
120
+ -3.2364364,3.2364364,0.13017516,1.378393,-1.3201418,20.910595,0.0005787271022796631,358.98104190826416,595000
121
+ -3.1278217,3.1278217,0.110370636,1.4082354,-1.4621123,20.522724,0.0005707890510559082,361.8349916934967,600000
122
+ -2.8778229,2.8778229,0.1169021,1.4832596,-1.0589159,19.493275,0.001306655979156494,368.36827540397644,605000
123
+ -3.2353094,3.2353094,0.110950395,1.6631896,-1.8067918,20.756174,0.0005709716796875,371.22313809394836,610000
124
+ -3.1526608,3.1526608,0.106627345,1.2820657,-1.084816,19.083519,0.0005601390361785889,374.0238370895386,615000
125
+ -3.1483002,3.1483002,0.13360284,1.6239295,-1.807687,19.902454,0.0005541219711303711,376.7944505214691,620000
126
+ -3.1792226,3.1792226,0.107681856,1.0459282,-1.4640456,19.21967,0.0005336033344268799,379.4624710083008,625000
127
+ -3.156107,3.156107,0.108512126,0.8319794,-0.8338695,18.387339,0.000557518196105957,382.2500648498535,630000
128
+ -3.382224,3.382224,0.098839045,2.195999,-1.2855567,20.213442,0.0005447803020477295,384.97396993637085,635000
129
+ -2.9059687,2.9059687,0.12272598,1.1499586,-1.0841321,18.35307,0.0005389917373657227,387.66893243789673,640000
130
+ -2.6719491,2.6719491,0.117921315,1.004648,-1.0349619,18.266756,0.0005532689094543457,390.43528008461,645000
131
+ -2.841207,2.841207,0.12251856,1.409297,-1.2269857,20.421286,0.0005601552486419678,393.2360599040985,650000
132
+ -2.8357852,2.8357852,0.12602262,1.2664849,-1.3745221,19.727163,0.0005422764301300049,395.9474456310272,655000
133
+ -2.7534442,2.7534442,0.12874034,0.9371221,-1.4872026,21.33062,0.0005484594821929932,398.68974709510803,660000
134
+ -2.82395,2.82395,0.12873606,1.5232182,-1.5273999,18.846848,0.0005512709140777588,401.4461054801941,665000
135
+ -3.0422544,3.0422544,0.11242807,1.4446836,-1.1584094,20.668623,0.0005681212425231934,404.28671622276306,670000
136
+ -2.8444896,2.8444896,0.11647477,1.2949071,-1.1383485,20.353815,0.0005534695148468018,407.0540668964386,675000
137
+ -3.393487,3.393487,0.11276253,1.0072938,-1.0340402,18.886282,0.000562309455871582,409.86561703681946,680000
138
+ -2.7082336,2.7082336,0.110331476,1.4418792,-1.84199,22.324371,0.0005518565654754639,412.62490344047546,685000
139
+ -2.8784518,2.8784518,0.103161804,0.8961167,-0.71035683,17.514856,0.0005530134677886963,415.3899736404419,690000
140
+ -3.4271188,3.4271188,0.11121844,0.9244371,-0.98544174,18.01875,0.0005434093475341797,418.10702443122864,695000
141
+ -3.7987995,3.7987995,0.11930816,1.5697272,-1.5275723,19.173208,0.0005522063255310059,420.86805963516235,700000
142
+ -2.7364352,2.7364352,0.11614685,2.1429212,-1.146947,20.647652,0.0018196523666381835,429.9663255214691,705000
143
+ -3.0070024,3.0070024,0.11366552,1.8663874,-1.8561476,20.053782,0.0005572486877441406,432.7525722980499,710000
144
+ -1.944668,1.944668,0.13667402,1.2255136,-2.1884856,22.69813,0.0005398571968078614,435.4518630504608,715000
145
+ -3.1579137,3.1579137,0.118337825,1.0868309,-1.0937937,18.994385,0.0005416079521179199,438.15990567207336,720000
146
+ -3.307838,3.307838,0.1097969,1.0789737,-1.6801445,19.786581,0.0005424964904785156,440.87239170074463,725000
147
+ -3.3358972,3.3358972,0.10601976,3.3538558,-3.0352519,23.477917,0.0005679503440856933,443.7121522426605,730000
148
+ -3.1167269,3.1167269,0.10430032,1.1583328,-1.2570415,19.331781,0.0005472470760345459,446.44839239120483,735000
149
+ -3.0482483,3.0482483,0.111414455,0.97488356,-1.2911718,17.97905,0.0005692618370056153,449.2947053909302,740000
150
+ -3.4649634,3.4649634,0.118693195,1.2477734,-1.146979,21.108429,0.0005676157474517823,452.1327872276306,745000
151
+ -3.0533648,3.0533648,0.13800643,1.1288462,-0.88886327,19.040577,0.0005517722606658936,454.89165210723877,750000
152
+ -2.648005,2.648005,0.14212012,1.462573,-0.981219,20.380377,0.0005561311721801758,457.6723117828369,755000
153
+ -2.4882667,2.4882667,0.11452927,2.2855685,-1.1722023,20.361633,0.0005600810527801514,460.4727199077606,760000
154
+ -3.036565,3.036565,0.11234333,1.3773942,-1.7479652,18.614105,0.00056653470993042,463.30539727211,765000
155
+ -3.1854458,3.1854458,0.115496546,1.438581,-1.5655766,19.040651,0.0005545958518981933,466.07837986946106,770000
156
+ -3.0749516,3.0749516,0.13076523,1.0346589,-1.9974921,20.74714,0.0005596829891204834,468.8767981529236,775000
157
+ -3.3050141,3.3050141,0.11180347,0.92271703,-1.370258,18.531069,0.0005733467578887939,471.7435357570648,780000
158
+ -2.483643,2.483643,0.11676809,1.1415824,-2.647636,22.607595,0.0005595993995666504,474.5415368080139,785000
159
+ -3.2954059,3.2954059,0.11327092,0.86613935,-0.8714563,19.108496,0.0005637659072875976,477.36037039756775,790000
160
+ -3.0710251,3.0710251,0.11418848,1.7663232,-0.89164674,22.086475,0.0005424038887023926,480.072393655777,795000
161
+ -3.7421913,3.7421913,0.10757993,2.102037,-1.0837226,18.393518,0.000549226713180542,482.8185305595398,800000
162
+ -2.8898342,2.8898342,0.115201145,1.0818231,-1.0912727,19.88811,0.0018374260425567627,492.0056643486023,805000
163
+ -2.9787636,2.9787636,0.11981875,1.2755431,-1.4646112,17.920834,0.0005547512054443359,494.77942395210266,810000
164
+ -3.531337,3.531337,0.10992819,1.5466635,-1.5083776,18.59575,0.0005362218856811524,497.4605362415314,815000
165
+ -2.6264627,2.6264627,0.11158695,1.1299322,-1.1126354,19.15238,0.0005430214405059815,500.17564702033997,820000
166
+ -2.846455,2.846455,0.108150296,1.0635786,-1.4407045,19.630915,0.0005494656085968017,502.9229791164398,825000
167
+ -3.352385,3.352385,0.12394305,1.4749027,-1.7234877,22.238573,0.0005588618755340576,505.7172920703888,830000
168
+ -3.0754778,3.0754778,0.12050007,1.4989035,-1.0534992,22.199894,0.0005398648738861084,508.41662549972534,835000
169
+ -3.2747493,3.2747493,0.10062911,1.7051073,-1.466238,21.214754,0.0005569995880126954,511.20162773132324,840000
170
+ -2.763332,2.763332,0.121375225,1.416344,-1.8375407,23.79897,0.0005437500476837158,513.9203808307648,845000
171
+ -2.7058144,2.7058144,0.13222806,0.9883509,-1.0042285,20.517365,0.0005479723930358886,516.6602458953857,850000
172
+ -2.7156212,2.7156212,0.12252077,1.412122,-1.0908434,19.25547,0.000563015079498291,519.4753246307373,855000
173
+ -2.517646,2.517646,0.114375316,1.2594404,-1.1265695,20.036715,0.0005425447940826416,522.1880514621735,860000
174
+ -3.495442,3.495442,0.12439674,1.2006582,-1.7036872,19.659689,0.0005564229011535644,524.9701693058014,865000
175
+ -3.3402362,3.3402362,0.11466889,1.7555666,-3.0332503,20.877022,0.0005479691505432129,527.7100186347961,870000
176
+ -3.1699834,3.1699834,0.10442698,1.644266,-1.7367193,20.596973,0.0005428982734680175,530.4245135784149,875000
177
+ -3.105219,3.105219,0.11105946,0.7614492,-1.4506235,19.57491,0.0005588020324707032,533.2185263633728,880000
178
+ -3.537305,3.537305,0.108007334,1.4908653,-1.7341809,19.5226,0.0005570930004119873,536.0039949417114,885000
179
+ -3.088882,3.088882,0.09790723,2.0705447,-1.8964812,21.779594,0.0005515982627868652,538.7619898319244,890000
180
+ -2.861772,2.861772,0.13534287,1.3838651,-1.8974122,20.64736,0.0005510839462280273,541.5174129009247,895000
181
+ -2.7244754,2.7244754,0.12520437,1.8921932,-1.2646171,20.273138,0.0005387985706329346,544.2114090919495,900000
182
+ -2.648843,2.648843,0.12715164,1.4263709,-1.4555663,19.316599,0.002043861484527588,554.4307196140289,905000
183
+ -3.5257573,3.5257573,0.096600816,1.2882187,-1.0053669,19.158081,0.0005720005512237549,557.2907257080078,910000
184
+ -3.176524,3.176524,0.12373832,1.2840332,-1.5925622,20.915771,0.0005409353256225586,559.9954059123993,915000
185
+ -3.4994836,3.4994836,0.106568545,1.6841289,-1.3765899,19.85817,0.0005562771797180176,562.7767956256866,920000
186
+ -2.8911755,2.8911755,0.12566228,1.5105362,-1.6558367,20.07229,0.0005370481967926025,565.4620397090912,925000
187
+ -3.0699227,3.0699227,0.11297115,2.2242844,-0.91236395,19.060043,0.0005458791255950928,568.1914381980896,930000
188
+ -2.9969172,2.9969172,0.11844554,1.0461402,-2.1762948,20.346945,0.0005421875,570.9023802280426,935000
189
+ -3.6185365,3.6185365,0.10198951,1.0093621,-0.9408595,19.567081,0.0005643552303314209,573.7241597175598,940000
190
+ -3.4379573,3.4379573,0.099037156,1.3261046,-1.3522236,20.765398,0.0005520025253295898,576.4841747283936,945000
191
+ -2.5970967,2.5970967,0.1381962,0.9213514,-1.5284774,18.865019,0.0005600573539733887,579.2844650745392,950000
192
+ -2.499782,2.499782,0.14686681,0.97372913,-1.3327249,19.045889,0.0005333081722259522,581.9510099887848,955000
193
+ -3.1781478,3.1781478,0.124104224,1.111436,-1.2305374,19.162481,0.0005469728946685791,584.6858777999878,960000
194
+ -2.8974235,2.8974235,0.09849029,1.0704064,-1.5866215,18.761227,0.000545103406906128,587.41139793396,965000
195
+ -2.5132906,2.5132906,0.109795764,1.5828602,-0.999915,20.115274,0.0005438971042633057,590.1308863162994,970000
196
+ -3.32934,3.32934,0.10975288,1.239374,-1.1652335,21.834923,0.0005518201351165772,592.8899908065796,975000
197
+ -3.1558712,3.1558712,0.11902266,1.4052081,-2.226137,23.860092,0.0005425911426544189,595.6029498577118,980000
198
+ -3.183261,3.183261,0.11469571,1.3233758,-1.3073146,18.783361,0.0005373767375946045,598.2898375988007,985000
199
+ -2.945601,2.945601,0.10654807,3.383117,-1.8871031,20.315388,0.0005501869678497315,601.0407750606537,990000
200
+ -2.5277312,2.5277312,0.1277324,1.592323,-0.90086734,18.472204,0.0005422876358032227,603.7522168159485,995000
201
+ -3.1482916,3.1482916,0.11786012,1.1889328,-0.94831455,18.23265,0.0005412398338317871,606.4584188461304,1000000
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd1/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ 1400.75,0.3029644349133266,102.43962389359781,134.6,0.1489826798439026,2.1959886924869347,1
3
+ 4834.05,3.6376237991230127,623.3308549715142,238.25,0.21814608573913574,13.542722797058037,100000
4
+ 9982.95,3.7629535057511037,599.5679848787532,202.2,0.17682534456253052,13.025088879616083,200000
5
+ 14688.55,3.135481807751023,660.885917363287,273.7,0.24327491521835326,14.360796286907748,300000
6
+ 21754.9,3.4199811900431856,1242.8798515894975,451.45,0.36987301111221316,27.038549391855383,400000
7
+ 30179.4,4.235199630246079,1659.69958368191,466.85,0.38468178510665896,36.11826198329986,500000
8
+ 39239.35,3.1307968657439362,914.750129640074,345.95,0.3031145691871643,19.890798605069676,600000
9
+ 47220.85,3.8523171139146277,1298.1106198310063,402.6,0.34003889560699463,28.241658225787454,700000
10
+ 55084.2,4.29237571310439,1220.1937266072086,406.4,0.3450906157493591,26.54437054475823,800000
11
+ 64457.8,3.943394619646726,1798.6878801816722,549.7,0.4711558222770691,39.145886849947274,900000
12
+ 72660.25,3.645990765144577,1012.8514990453201,339.35,0.29005244970321653,22.027770946938737,1000000
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd1/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 1, "env_name": "walker2d-medium-replay-v2", "save_dir": "exp/bc-loco/walker2d-medium-replay-v2/20260823_045306_sd1", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd1/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:74b584fdace944b304d4a113bf286e8b190b644b0d35dfc8cbc1fc404cbd1798
3
+ size 896500
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd1/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -1.9104254,1.9104254,0.16752717,0.72261524,-0.86295307,23.035748,0.0021924176692962646,10.96209168434143,5000
3
+ -2.42959,2.42959,0.1584625,1.0745393,-0.8362659,20.63493,0.0005633178234100342,13.77868366241455,10000
4
+ -2.388003,2.388003,0.1442087,1.3098629,-0.7448635,20.589565,0.000584010362625122,16.698739528656006,15000
5
+ -2.7085118,2.7085118,0.11951452,1.0350055,-0.8550487,22.577446,0.0005713553428649903,19.555519104003906,20000
6
+ -2.194734,2.194734,0.14373969,1.528047,-1.6923279,19.825825,0.000559660530090332,22.353825092315674,25000
7
+ -2.4711323,2.4711323,0.13925605,2.097157,-1.543788,24.928907,0.0005675004959106446,25.191330671310425,30000
8
+ -2.19986,2.19986,0.13615176,1.0509651,-0.7566433,20.350212,0.0005836285591125488,28.109476804733276,35000
9
+ -2.3874226,2.3874226,0.13377328,1.7840676,-0.84408695,22.076885,0.0005596247673034667,30.90760374069214,40000
10
+ -2.3721738,2.3721738,0.14058773,1.1082804,-0.8687583,20.485226,0.000576661729812622,33.790916204452515,45000
11
+ -2.0717335,2.0717335,0.12701525,1.528476,-2.2313547,23.044968,0.0005697601795196534,36.63972043991089,50000
12
+ -1.9839717,1.9839717,0.14686806,1.2027181,-0.78353304,21.109085,0.0005685328960418701,39.48238825798035,55000
13
+ -2.3163667,2.3163667,0.13478778,0.8991437,-2.320216,20.816422,0.0005733463764190674,42.34912323951721,60000
14
+ -2.7188869,2.7188869,0.12760401,0.7265825,-1.590169,20.00822,0.0005855113506317139,45.27668356895447,65000
15
+ -2.4490542,2.4490542,0.12838899,1.6107297,-0.9416788,22.116783,0.0005684596538543702,48.11898469924927,70000
16
+ -2.6792984,2.6792984,0.12452291,1.0559491,-1.5554199,20.142616,0.0005661901473999023,50.949939012527466,75000
17
+ -2.70943,2.70943,0.11246821,0.88181484,-1.3952817,19.943993,0.0005843180656433106,53.871532917022705,80000
18
+ -2.6153908,2.6153908,0.120224655,1.8003029,-1.1070161,21.49629,0.0005607247829437256,56.67516016960144,85000
19
+ -2.5970993,2.5970993,0.12493702,0.99897313,-1.2939559,19.875977,0.0005785568237304687,59.56794762611389,90000
20
+ -2.3946652,2.3946652,0.12749307,1.1591612,-1.0304409,21.048267,0.0005693589687347412,62.414745807647705,95000
21
+ -2.7848,2.7848,0.13829313,1.531058,-1.1592327,19.5105,0.0005782772541046143,65.3061351776123,100000
22
+ -2.6817458,2.6817458,0.12012615,1.2044337,-1.7703298,19.90514,0.0014310408592224121,72.46134233474731,105000
23
+ -2.0858235,2.0858235,0.13632524,1.2291652,-1.2539258,21.72826,0.0005672962188720703,75.29782724380493,110000
24
+ -2.652407,2.652407,0.12486115,1.8815922,-1.3566425,22.078115,0.0005757917881011963,78.17678904533386,115000
25
+ -2.846286,2.846286,0.13169317,1.3128812,-1.97134,22.86442,0.0005651736736297608,81.00266003608704,120000
26
+ -3.0591831,3.0591831,0.114862524,1.056721,-1.1333022,21.127167,0.0005780457019805909,83.89289164543152,125000
27
+ -2.929641,2.929641,0.11424955,0.95002246,-1.3726461,19.129068,0.0005820061206817627,86.80292558670044,130000
28
+ -2.8128755,2.8128755,0.12770012,1.0343164,-1.4311936,20.29352,0.0005574710845947265,89.59028434753418,135000
29
+ -2.597817,2.597817,0.12952524,1.9979686,-1.7896936,22.076523,0.0005629262924194336,92.4049186706543,140000
30
+ -2.4793797,2.4793797,0.13062555,1.9443438,-0.64969695,19.08311,0.0005670912265777588,95.24037790298462,145000
31
+ -2.781413,2.781413,0.1017996,1.26777,-1.2355602,19.761759,0.0005738914489746094,98.10983920097351,150000
32
+ -2.6795402,2.6795402,0.13207558,0.87416065,-1.272048,20.046604,0.0005620655536651612,100.92016983032227,155000
33
+ -2.2554855,2.2554855,0.12481777,0.9693129,-1.0523188,19.664316,0.000577337646484375,103.80686140060425,160000
34
+ -2.4888196,2.4888196,0.13019542,1.0121907,-1.0547441,20.743204,0.0005723609924316406,106.66866970062256,165000
35
+ -2.609453,2.609453,0.14357145,1.0743544,-0.9151411,20.220802,0.0005712556838989258,109.52495121955872,170000
36
+ -2.2050142,2.2050142,0.13192773,1.2269341,-0.79120517,21.503828,0.0005640397548675537,112.34515333175659,175000
37
+ -2.4259233,2.4259233,0.12883362,1.5966077,-1.1834128,22.049038,0.0005785963058471679,115.23813819885254,180000
38
+ -2.435847,2.435847,0.13739495,1.0689408,-1.3549803,20.129612,0.0005666284084320069,118.07128310203552,185000
39
+ -2.3482141,2.3482141,0.11674099,1.0923395,-1.0521173,21.935904,0.0005651770114898681,120.89717102050781,190000
40
+ -3.5450742,3.5450742,0.1034711,1.5574079,-2.0001025,18.369293,0.0005647835254669189,123.72109150886536,195000
41
+ -2.7368233,2.7368233,0.1232624,0.9231976,-1.0019498,19.641933,0.0005896069526672363,126.66912913322449,200000
42
+ -2.7249758,2.7249758,0.119344175,0.69783914,-1.5817791,18.968,0.001300623655319214,133.17225050926208,205000
43
+ -2.6636405,2.6636405,0.11804485,1.9147398,-1.7089496,20.125738,0.000557691478729248,135.96071076393127,210000
44
+ -2.7271867,2.7271867,0.114026956,2.82538,-1.1135151,21.341671,0.0005512245178222657,138.71683645248413,215000
45
+ -2.3240507,2.3240507,0.13051796,1.0911669,-1.0019003,19.074093,0.0005703428745269776,141.56855368614197,220000
46
+ -2.5476694,2.5476694,0.12607694,1.6404033,-2.2503948,21.379993,0.0005727921485900879,144.43251967430115,225000
47
+ -2.8142858,2.8142858,0.1279332,1.2163372,-1.1043293,21.448967,0.0005776943683624267,147.32099556922913,230000
48
+ -2.858086,2.858086,0.109859526,1.7745037,-1.9993851,21.085743,0.0005663002014160156,150.15249919891357,235000
49
+ -2.8278654,2.8278654,0.12498106,1.5030341,-1.1769009,20.65008,0.0005645279884338379,152.9751420021057,240000
50
+ -3.0979848,3.0979848,0.11212842,2.043909,-1.3487731,20.448164,0.000579887342453003,155.87458157539368,245000
51
+ -2.8972626,2.8972626,0.10382267,0.87121177,-0.7926443,19.362654,0.0005607789039611817,158.67847895622253,250000
52
+ -3.2093775,3.2093775,0.115209036,1.3353215,-1.5357902,18.887348,0.0005635100841522217,161.496031999588,255000
53
+ -3.3523192,3.3523192,0.10650321,1.9829133,-2.0077531,20.173285,0.0005599740028381348,164.2959098815918,260000
54
+ -2.5856986,2.5856986,0.11815746,1.3404847,-1.744746,19.571514,0.0005753383636474609,167.17260479927063,265000
55
+ -2.257382,2.257382,0.1247157,0.94378316,-0.842983,18.9086,0.0005755226135253906,170.05022168159485,270000
56
+ -2.4191742,2.4191742,0.12912248,2.0387087,-1.0818225,21.446972,0.0005835865974426269,172.96815729141235,275000
57
+ -2.354773,2.354773,0.13157317,0.9398482,-1.457971,19.517715,0.0005706865787506103,175.82159399986267,280000
58
+ -3.2776031,3.2776031,0.11409577,1.2477162,-1.0521814,20.261408,0.0005922924041748046,178.78305864334106,285000
59
+ -2.559906,2.559906,0.14205414,1.451452,-2.393044,22.643753,0.0005538474082946777,181.55229878425598,290000
60
+ -2.8327758,2.8327758,0.13012777,1.1697017,-0.90822375,20.994293,0.0005725727081298828,184.41516542434692,295000
61
+ -3.1047955,3.1047955,0.09664793,0.78655106,-0.8916427,18.489357,0.0005686373710632324,187.2583556175232,300000
62
+ -2.6575537,2.6575537,0.13365382,1.4160002,-0.7663626,19.707315,0.001544416618347168,194.98044180870056,305000
63
+ -2.9941802,2.9941802,0.124464326,0.97373545,-0.957165,18.539461,0.0005749316692352295,197.8551037311554,310000
64
+ -2.562982,2.562982,0.123613164,1.3989689,-0.9920205,18.255394,0.0005631395816802978,200.670804977417,315000
65
+ -3.0062513,3.0062513,0.1062381,1.533373,-1.0885581,19.402681,0.0005630373001098632,203.48599457740784,320000
66
+ -2.6792145,2.6792145,0.12340669,0.9879794,-0.9789977,18.952957,0.0005652829170227051,206.31241273880005,325000
67
+ -3.068568,3.068568,0.11360278,1.2439263,-2.1484058,19.613344,0.0005697348117828369,209.16108965873718,330000
68
+ -2.762384,2.762384,0.113785826,1.9383392,-1.7547568,20.97802,0.0005885701179504394,212.10394310951233,335000
69
+ -2.8153126,2.8153126,0.12391971,0.86669344,-1.181895,18.912441,0.000560776138305664,214.90782713890076,340000
70
+ -3.1955667,3.1955667,0.102715634,0.9770015,-0.9277102,19.23819,0.0005727745056152344,217.77170205116272,345000
71
+ -2.9445708,2.9445708,0.103317484,1.2983394,-2.2517931,19.262215,0.0005860208034515381,220.70180869102478,350000
72
+ -2.6569452,2.6569452,0.12070894,1.6814342,-1.8054817,19.624956,0.0005550104141235351,223.4768636226654,355000
73
+ -2.7889376,2.7889376,0.12780927,1.0946485,-1.0143279,20.850225,0.0005876190662384033,226.41496181488037,360000
74
+ -2.9120102,2.9120102,0.12285694,1.044028,-0.7931555,19.192106,0.0005609675884246826,229.21980261802673,365000
75
+ -3.017644,3.017644,0.12158793,1.7324964,-1.1671655,20.600271,0.0005755563735961914,232.0975890159607,370000
76
+ -2.8565845,2.8565845,0.107459754,1.0839453,-1.20755,18.651237,0.0005813172340393066,235.0041790008545,375000
77
+ -2.6334033,2.6334033,0.12376203,0.7837106,-0.9807981,19.938375,0.0005629806995391845,237.81908512115479,380000
78
+ -2.955047,2.955047,0.11518268,1.1885825,-0.9724935,20.155237,0.0005731491565704346,240.68483448028564,385000
79
+ -2.923944,2.923944,0.1048484,1.9219097,-1.0836868,19.336039,0.000569620132446289,243.53293800354004,390000
80
+ -3.607543,3.607543,0.10136288,0.8388988,-1.2348676,18.99954,0.0005709529399871826,246.38770604133606,395000
81
+ -3.5437815,3.5437815,0.11309328,1.0208207,-1.4227902,19.558355,0.0005823427200317382,249.29942297935486,400000
82
+ -3.1583772,3.1583772,0.12195866,1.1028904,-0.8877648,19.092833,0.0020513116359710693,259.55598545074463,405000
83
+ -3.2365017,3.2365017,0.09979868,1.3416061,-1.1406996,19.627104,0.0005676180839538574,262.3940784931183,410000
84
+ -2.4562786,2.4562786,0.12287015,0.8978728,-0.9819943,20.633732,0.0005813163757324219,265.30066418647766,415000
85
+ -3.22376,3.22376,0.103005275,1.3949015,-1.2165273,20.008673,0.0005575646877288818,268.088490486145,420000
86
+ -2.9418254,2.9418254,0.10576516,1.657129,-0.99460346,21.11836,0.0005671204566955566,270.9240963459015,425000
87
+ -2.8077111,2.8077111,0.12224297,1.5972952,-1.3527383,21.673271,0.0005725465774536133,273.78683376312256,430000
88
+ -3.2007709,3.2007709,0.12755096,0.9912784,-1.855882,20.439898,0.0005659319877624511,276.6164972782135,435000
89
+ -3.2930474,3.2930474,0.10186952,1.2642591,-1.2682261,19.6425,0.0005562901496887207,279.39795112609863,440000
90
+ -2.7099895,2.7099895,0.12789695,2.1517982,-1.236721,21.727757,0.0005611619472503662,282.20376348495483,445000
91
+ -2.78719,2.78719,0.12759271,0.8903622,-1.147577,20.65998,0.000577532958984375,285.0914318561554,450000
92
+ -2.6275096,2.6275096,0.12885962,1.8838922,-1.2092141,23.787918,0.0005708164691925049,287.9455165863037,455000
93
+ -2.9349456,2.9349456,0.10848449,1.1744657,-1.102629,17.96985,0.0005679737567901612,290.7853887081146,460000
94
+ -2.7178798,2.7178798,0.12719387,1.3924057,-1.1203103,17.73337,0.0005529115676879883,293.5499496459961,465000
95
+ -3.1951292,3.1951292,0.114151955,1.0033394,-1.0099086,19.290922,0.0005739114761352539,296.4195101261139,470000
96
+ -3.2100806,3.2100806,0.12403673,0.6652559,-0.82784426,18.136408,0.0005764152526855469,299.30159044265747,475000
97
+ -3.105404,3.105404,0.10344105,1.6349821,-1.0998456,20.31417,0.0005746049880981446,302.1746189594269,480000
98
+ -3.2194512,3.2194512,0.11237135,2.066927,-1.3703042,19.73104,0.0005611562252044678,304.9804039001465,485000
99
+ -2.940596,2.940596,0.119961165,1.7771425,-0.8726277,19.18895,0.000574456262588501,307.8526887893677,490000
100
+ -2.718928,2.718928,0.12219483,0.99937797,-1.5399882,19.300165,0.000580113697052002,310.7532603740692,495000
101
+ -3.0698106,3.0698106,0.12380402,1.4768043,-1.9330204,21.177141,0.0005645333290100098,313.57593035697937,500000
102
+ -2.738431,2.738431,0.13414228,1.9142083,-1.0911337,20.66668,0.0021112018585205078,324.1319479942322,505000
103
+ -2.892537,2.892537,0.12159847,1.4390626,-1.0114522,19.428902,0.0005610473155975342,326.9371883869171,510000
104
+ -2.6190753,2.6190753,0.12208617,1.0584815,-1.2159975,19.121046,0.0005870307445526123,329.87234568595886,515000
105
+ -3.3099973,3.3099973,0.11156361,1.331206,-1.1662085,19.767958,0.0005813188076019287,332.7789433002472,520000
106
+ -3.0786898,3.0786898,0.11904952,1.4038299,-1.5345956,20.988321,0.0005626505374908447,335.5921995639801,525000
107
+ -2.865497,2.865497,0.13597238,1.2982341,-1.0958762,19.98489,0.0005592546939849854,338.3884754180908,530000
108
+ -2.9809337,2.9809337,0.114974216,1.2862216,-0.9885551,19.80567,0.0005764607906341553,341.27078318595886,535000
109
+ -3.23425,3.23425,0.10730859,1.2084016,-0.9741726,19.826298,0.0005760976791381835,344.15127515792847,540000
110
+ -2.9347281,2.9347281,0.12580508,0.91291213,-1.3618695,19.217258,0.0005796723365783692,347.04963970184326,545000
111
+ -2.8214204,2.8214204,0.12213908,1.0409915,-0.92610383,19.527714,0.0005666365623474122,349.8828270435333,550000
112
+ -3.4791656,3.4791656,0.1120622,1.4872683,-1.3560908,20.714333,0.0005718048095703125,352.7418534755707,555000
113
+ -2.948321,2.948321,0.12043123,0.98838884,-1.0439749,17.929829,0.0005653250694274902,355.56848216056824,560000
114
+ -2.7175076,2.7175076,0.11170071,1.4469868,-1.988755,19.20284,0.0005655147075653076,358.39605927467346,565000
115
+ -2.8522358,2.8522358,0.13115272,1.1948321,-0.9815624,18.050432,0.0005627636909484863,361.2098808288574,570000
116
+ -3.2870383,3.2870383,0.11530067,1.3960365,-1.3894768,20.49254,0.0005819993495941162,364.1198811531067,575000
117
+ -2.9772978,2.9772978,0.108243465,1.0185887,-1.0110289,19.506302,0.0005930083751678467,367.0849258899689,580000
118
+ -3.243999,3.243999,0.110048234,0.9991198,-0.8824001,19.002178,0.0005659270286560059,369.91456365585327,585000
119
+ -2.9487772,2.9487772,0.118015215,1.232176,-1.7441685,21.774517,0.0005694435596466065,372.76178550720215,590000
120
+ -2.8701396,2.8701396,0.12905386,3.1706634,-1.0113287,18.719835,0.0005842288017272949,375.68293261528015,595000
121
+ -3.3266592,3.3266592,0.11811392,1.3583412,-1.3942299,21.574387,0.0005629634857177734,378.49775314331055,600000
122
+ -2.9701385,2.9701385,0.10826701,1.2175186,-1.0700039,19.564142,0.0017751426696777344,387.3734698295593,605000
123
+ -3.036107,3.036107,0.12722111,0.9736463,-1.1181197,22.22972,0.0005632837772369385,390.1898920536041,610000
124
+ -3.3939116,3.3939116,0.12276742,1.0309119,-1.6467433,20.516146,0.0005720693588256836,393.0502426624298,615000
125
+ -2.6567926,2.6567926,0.12999289,2.121958,-2.2303247,20.921013,0.0005612988471984863,395.85674023628235,620000
126
+ -3.3133624,3.3133624,0.11774876,0.92786694,-1.3308417,17.186287,0.000570856523513794,398.71102595329285,625000
127
+ -2.6447325,2.6447325,0.12504764,1.1760273,-0.9105504,17.943441,0.0005694698333740234,401.55837774276733,630000
128
+ -3.0261188,3.0261188,0.10003327,0.91131467,-1.2841883,17.97362,0.0005817607879638672,404.4671850204468,635000
129
+ -2.8251839,2.8251839,0.11136075,1.2176378,-0.9354713,19.682491,0.0005636351585388184,407.2853639125824,640000
130
+ -2.6081812,2.6081812,0.13439485,1.2490759,-0.7996242,19.432371,0.0005614834785461426,410.09278416633606,645000
131
+ -2.842195,2.842195,0.10754776,1.5805895,-1.5159287,17.702398,0.0005577399253845215,412.8814871311188,650000
132
+ -3.2446797,3.2446797,0.12160486,1.8615975,-1.2956803,20.921968,0.0005760100364685059,415.76154088974,655000
133
+ -2.4404058,2.4404058,0.13052946,0.83269113,-0.9385131,22.211445,0.0005648536205291748,418.58581256866455,660000
134
+ -3.0167866,3.0167866,0.1103377,0.97268,-1.3074516,18.889194,0.0005602959156036377,421.38729548454285,665000
135
+ -3.0872903,3.0872903,0.1151728,1.2561314,-1.5351022,22.421736,0.0005742337703704834,424.2584674358368,670000
136
+ -3.2261782,3.2261782,0.11726214,1.6123707,-1.5491089,18.902477,0.0005741980552673339,427.12946105003357,675000
137
+ -3.051015,3.051015,0.121006094,1.0326788,-1.3104969,22.01991,0.0005541912078857421,429.90041995048523,680000
138
+ -3.0916352,3.0916352,0.11285004,1.8089514,-1.3556774,20.427635,0.0005514130115509033,432.657488822937,685000
139
+ -3.190495,3.190495,0.132509,1.1122062,-0.9727688,19.851946,0.0005770452976226806,435.54271841049194,690000
140
+ -3.0448427,3.0448427,0.11613421,1.7229043,-1.9383872,20.60223,0.0005767796516418457,438.4266195297241,695000
141
+ -3.2237034,3.2237034,0.13743988,1.1575972,-1.0493125,19.769585,0.0005734377384185791,441.29381108283997,700000
142
+ -2.6929665,2.6929665,0.111500114,1.6089038,-1.7487162,21.134104,0.0019247679710388183,450.917653799057,705000
143
+ -2.7925186,2.7925186,0.11923041,1.0608561,-2.370618,21.513525,0.0005686470508575439,453.7608919143677,710000
144
+ -2.6228757,2.6228757,0.11881973,1.1229703,-1.2478139,19.939247,0.0005617072582244873,456.5694320201874,715000
145
+ -3.2498226,3.2498226,0.11320965,1.233604,-2.1233654,21.185177,0.0005721242427825928,459.43005657196045,720000
146
+ -2.666326,2.666326,0.11657375,1.127226,-1.0970592,18.189074,0.0005699431896209716,462.279776096344,725000
147
+ -3.3209987,3.3209987,0.10799994,1.1617928,-0.9833962,19.357304,0.0005772698879241943,465.1661283969879,730000
148
+ -2.9526656,2.9526656,0.11422533,1.2005054,-0.8551922,20.776188,0.0005736859798431397,468.03456234931946,735000
149
+ -2.8135912,2.8135912,0.12273054,1.2127793,-1.2185416,18.345997,0.0005627554416656494,470.84834241867065,740000
150
+ -3.4759996,3.4759996,0.10131222,0.74888325,-0.99422026,18.396358,0.0005683804988861084,473.6902480125427,745000
151
+ -2.916451,2.916451,0.11392577,1.0425211,-1.2111843,20.3719,0.0005582848072052002,476.4816756248474,750000
152
+ -3.1856904,3.1856904,0.114158176,0.97098887,-1.0901815,19.365444,0.0005628133296966553,479.2957456111908,755000
153
+ -2.676822,2.676822,0.11187993,2.2072165,-1.4280946,21.717,0.0005663352012634277,482.12742495536804,760000
154
+ -2.8470376,2.8470376,0.103104144,1.0541624,-0.85193914,19.239874,0.0005579831123352051,484.9173438549042,765000
155
+ -2.733118,2.733118,0.12818752,1.0962873,-0.70754755,19.22738,0.0005656086921691895,487.7453920841217,770000
156
+ -3.1504424,3.1504424,0.12896797,1.5378268,-0.9364046,21.917877,0.0005903790950775147,490.6972906589508,775000
157
+ -3.0001078,3.0001078,0.11959535,1.4941602,-0.98788095,19.929298,0.0005580667495727539,493.48762702941895,780000
158
+ -2.6858087,2.6858087,0.10769212,0.8926718,-1.6561463,20.462112,0.000562262487411499,496.2989432811737,785000
159
+ -2.6903667,2.6903667,0.12990522,1.0160954,-1.2810774,19.86863,0.0005767114162445068,499.1825032234192,790000
160
+ -2.8164577,2.8164577,0.11907294,1.8143708,-0.769319,19.943035,0.0005659239768981934,502.01212644577026,795000
161
+ -3.0149426,3.0149426,0.11173332,1.296277,-1.624221,18.926933,0.0005721949100494385,504.8731038570404,800000
162
+ -2.8301988,2.8301988,0.12404668,0.8821877,-1.1669569,18.568224,0.001959018278121948,514.6681988239288,805000
163
+ -2.660953,2.660953,0.12708148,1.2164556,-1.4573123,19.750011,0.0005978059768676758,517.6572315692902,810000
164
+ -3.3457618,3.3457618,0.10701516,0.87673014,-1.3455001,17.2779,0.0005909627437591553,520.6120483875275,815000
165
+ -3.0101707,3.0101707,0.114363045,1.0117991,-1.2260873,20.98858,0.0005608466625213623,523.416285276413,820000
166
+ -3.0865188,3.0865188,0.11833088,0.8036177,-1.0930569,19.073881,0.000572135066986084,526.2769660949707,825000
167
+ -2.5784435,2.5784435,0.11165635,0.6595423,-0.70351374,18.307613,0.0005714462757110595,529.1342010498047,830000
168
+ -3.2431624,3.2431624,0.10609661,0.97526824,-1.1537603,19.173613,0.0005776151657104492,532.0222799777985,835000
169
+ -3.2372968,3.2372968,0.10055375,2.0969317,-1.7967901,21.799116,0.0005700117588043213,534.8723421096802,840000
170
+ -2.764855,2.764855,0.11135741,1.3674741,-1.3575501,20.45283,0.0005634635925292968,537.6896631717682,845000
171
+ -2.8593824,2.8593824,0.13018066,1.2951169,-1.4038086,19.022587,0.0005656406402587891,540.5178692340851,850000
172
+ -3.336483,3.336483,0.11240896,1.015264,-1.9449966,19.552668,0.0005654001712799072,543.3448729515076,855000
173
+ -2.719486,2.719486,0.12529598,1.2054787,-1.1580803,17.689133,0.0005710523605346679,546.2001385688782,860000
174
+ -2.4330378,2.4330378,0.13724844,1.2339809,-1.9954234,21.365885,0.0005706010818481445,549.0531475543976,865000
175
+ -3.1232362,3.1232362,0.109422445,1.6306319,-1.1567491,19.008858,0.0005676604747772217,551.8914530277252,870000
176
+ -2.6192327,2.6192327,0.14238405,1.7456038,-1.1210017,19.05909,0.0005601649284362793,554.6922807693481,875000
177
+ -3.1528835,3.1528835,0.103228986,1.8003398,-1.1159456,18.485645,0.00057291579246521,557.5568628311157,880000
178
+ -3.3379476,3.3379476,0.10252997,1.4828703,-1.0052817,23.475737,0.0005921027660369873,560.5173804759979,885000
179
+ -3.2180896,3.2180896,0.10982886,0.9180072,-1.0048516,20.938276,0.0005658450126647949,563.3466084003448,890000
180
+ -3.1179438,3.1179438,0.10524293,1.6320086,-1.049922,20.900333,0.0005578228950500489,566.1357264518738,895000
181
+ -2.5790238,2.5790238,0.13752985,1.4977583,-1.0754856,20.410172,0.0005644564151763916,568.9580118656158,900000
182
+ -3.4426446,3.4426446,0.09998579,0.74258083,-0.8876564,18.276861,0.0024497093677520753,581.2065613269806,905000
183
+ -3.1968377,3.1968377,0.11524539,0.82814837,-0.91089255,21.586128,0.0005623950481414794,584.0185403823853,910000
184
+ -3.3531654,3.3531654,0.11560945,1.2730303,-1.5155486,21.82023,0.000568361234664917,586.8603491783142,915000
185
+ -3.2002375,3.2002375,0.1206352,1.0230703,-1.1944336,17.933949,0.0005978392124176026,589.8495490550995,920000
186
+ -3.2769868,3.2769868,0.1117427,1.2247664,-1.0073221,18.220608,0.000563986587524414,592.6694848537445,925000
187
+ -3.146367,3.146367,0.10566618,0.82884383,-1.5369117,20.488256,0.0005615222454071045,595.4770996570587,930000
188
+ -2.8297896,2.8297896,0.1296087,1.2417636,-1.5905452,20.55337,0.0005683268070220947,598.3187372684479,935000
189
+ -3.2652671,3.2652671,0.12459777,0.81519306,-1.4708756,18.97838,0.0005685032367706298,601.1612570285797,940000
190
+ -3.2848215,3.2848215,0.110585295,1.1103595,-2.033353,20.462297,0.000583383846282959,604.0781795978546,945000
191
+ -2.6184962,2.6184962,0.1110097,1.2923867,-1.558608,24.87467,0.0005615558624267578,606.8859624862671,950000
192
+ -2.8983507,2.8983507,0.117120616,1.7144412,-0.99589217,17.112751,0.000555034065246582,609.6611363887787,955000
193
+ -2.9446602,2.9446602,0.118761346,1.5901239,-1.5622481,18.59876,0.000588668155670166,612.6044809818268,960000
194
+ -2.7900496,2.7900496,0.108899616,1.7315471,-1.0044836,20.7143,0.0005709656238555908,615.4593124389648,965000
195
+ -3.0842388,3.0842388,0.12493706,0.8475455,-1.4264588,19.05868,0.0005678871631622314,618.2987513542175,970000
196
+ -3.0764036,3.0764036,0.10893969,0.99526036,-1.2919427,19.212946,0.0005694725513458252,621.1461172103882,975000
197
+ -2.918767,2.918767,0.11972511,2.1980133,-1.0813057,23.270145,0.0005567174911499023,623.9297075271606,980000
198
+ -2.706552,2.706552,0.1393611,0.9700888,-1.9629676,19.340616,0.0005694338798522949,626.7768800258636,985000
199
+ -3.0458388,3.0458388,0.10738494,1.3042543,-1.1336602,18.407593,0.0005670484066009521,629.6121249198914,990000
200
+ -3.331196,3.331196,0.10981353,0.766255,-1.2001526,21.231627,0.0005724025249481201,632.4741415977478,995000
201
+ -3.1472473,3.1472473,0.099667214,0.9456631,-1.2568233,18.331602,0.0005902399063110351,635.4253451824188,1000000
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd2/eval.csv ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ evaluation/total.timesteps,evaluation/episode.final_reward,evaluation/episode.return,evaluation/episode.length,evaluation/episode.duration,evaluation/episode.normalized_return,step
2
+ 537.05,0.3813137818164449,34.43269878799504,49.85,0.08200864791870117,0.7145728989326585,1
3
+ 3573.6,3.421033445632029,534.4195518350858,232.15,0.19238418340682983,11.605940498971957,100000
4
+ 8546.8,3.271664971020111,765.1635503065314,292.4,0.25210095643997193,16.632308079518573,200000
5
+ 14920.7,3.056727595041688,768.0818298203907,292.15,0.23947290182113648,16.695877860906627,300000
6
+ 20681.45,3.493460145606991,850.7275513604394,364.8,0.30835714340209963,18.49617506547809,400000
7
+ 27761.2,3.5599204794745214,935.1216803982736,332.5,0.28838109970092773,20.33455836902793,500000
8
+ 34090.3,3.2246742616384063,517.043028924738,233.8,0.20431320667266845,11.227422348997168,600000
9
+ 38614.3,3.5919700811055195,536.5018955891388,259.95,0.22878849506378174,11.651300834262416,700000
10
+ 45820.35,3.8010182652606668,1095.7137774276507,408.2,0.33293081521987916,23.832785475898266,800000
11
+ 52337.6,3.6710817343854716,793.878643838729,285.35,0.2308734178543091,17.257817805269738,900000
12
+ 58963.1,1.9199563151517018,855.8416101137307,386.75,0.3243777513504028,18.607576182269145,1000000
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd2/flags.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"logtostderr": false, "alsologtostderr": false, "log_dir": "", "v": 0, "verbosity": 0, "logger_levels": {}, "stderrthreshold": "fatal", "showprefixforinfo": true, "run_with_pdb": false, "pdb_post_mortem": false, "pdb": false, "run_with_profiling": false, "profile_file": null, "use_cprofile_for_profiling": true, "only_check_args": false, "chex_n_cpu_devices": 1, "chex_assert_multiple_cpu_devices": false, "test_srcdir": "", "test_tmpdir": "/tmp/absl_testing", "test_random_seed": 301, "test_randomize_ordering_seed": "", "xml_output_file": "", "chex_skip_pmap_variant_if_single_device": true, "pymjcf_debug": false, "pymjcf_debug_full_dump_dir": "", "pymjcf_log_xml": false, "timeout": true, "run_group": "bc-loco", "project_name": "fql", "tags": "Default", "seed": 2, "env_name": "walker2d-medium-replay-v2", "save_dir": "exp/bc-loco/walker2d-medium-replay-v2/20260823_050406_sd2", "restore_path": null, "restore_epoch": null, "offline_steps": 1000000, "online_steps": 0, "buffer_size": 2000000, "log_interval": 5000, "eval_interval": 100000, "deterministic_eval": true, "save_interval": 1000000, "eval_episodes": 20, "video_episodes": 0, "video_frame_skip": 3, "p_aug": null, "frame_stack": null, "balanced_sampling": 0, "dataset_path": null, "sparse": false, "reward_normalize": false, "retain_offline_dataset": true, "online_alpha_actor_end": null, "from_scratch": false, "agent": {"action_dim": null, "actor_hidden_dims": [256, 256], "actor_layer_norm": true, "actor_lr": 0.0003, "agent_name": "bc", "batch_size": 256, "const_std": false, "encoder": null, "ob_dims": null, "state_dependent_std": true}, "online_agent": {"actor_fc_scale": 0.01, "actor_hidden_dims": [256, 256], "actor_layer_norm": false, "actor_lr": 0.0001, "actor_utd": 1, "agent_name": "sac", "backup_entropy": false, "batch_size": 256, "critic_lr": 0.0003, "critic_utd": 4, "discount": 0.99, "layer_norm": true, "q_agg": "min", "state_dependent_std": true, "tanh_squash": true, "target_entropy": null, "target_entropy_multiplier": 0.5, "tau": 0.005, "temperature_lr": 0.0001, "utd_ratio_steps": 0, "value_hidden_dims": [256, 256]}, "?": false, "help": false, "helpshort": false, "helpfull": false, "helpxml": false}
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd2/params_1000000.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ad97952752af946e97e538ffbc1984b3bcdf51c06d7929440acb4fee3215792d
3
+ size 896500
pretrained_models/bc-loco/walker2d-medium-replay-v2/sd2/train.csv ADDED
@@ -0,0 +1,201 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ training/actor/actor_loss,training/actor/log_prob,training/actor/mse,training/grad/max,training/grad/min,training/grad/norm,time/epoch_time,time/total_time,step
2
+ -1.5061568,1.5061568,0.17373353,0.93855834,-0.88923955,20.404625,0.0017792916297912598,8.89646053314209,5000
3
+ -1.9847504,1.9847504,0.14935485,0.76817393,-0.8310152,21.48432,0.0005565561771392822,11.67924427986145,10000
4
+ -1.8852693,1.8852693,0.1459134,0.6745319,-0.86225325,19.473738,0.000584188175201416,14.6001877784729,15000
5
+ -1.8531594,1.8531594,0.17222494,1.2447605,-1.012144,21.73319,0.0005742794513702393,17.471587419509888,20000
6
+ -2.2288744,2.2288744,0.13733616,0.62574947,-0.7363563,20.397255,0.0005639086246490479,20.29113459587097,25000
7
+ -2.480331,2.480331,0.13048388,0.82824075,-0.6053068,19.677254,0.0005621732711791992,23.10200595855713,30000
8
+ -2.1102705,2.1102705,0.14723289,0.5394384,-0.88816065,19.282152,0.0005618132591247558,25.911075592041016,35000
9
+ -2.768887,2.768887,0.12117803,0.7409153,-0.57334393,20.936245,0.000556386137008667,28.693010330200195,40000
10
+ -2.0106018,2.0106018,0.15152128,1.3849468,-1.7285775,25.414127,0.0005735925674438477,31.56097650527954,45000
11
+ -2.4629474,2.4629474,0.13231513,1.1369054,-0.7646772,20.49713,0.0005550619602203369,34.33629012107849,50000
12
+ -2.1048615,2.1048615,0.1456523,0.81242734,-0.78642887,19.768076,0.0005561624050140381,37.11710500717163,55000
13
+ -2.4743762,2.4743762,0.1312612,0.9406646,-0.83259153,20.547829,0.0005624027729034424,39.92912244796753,60000
14
+ -2.2820103,2.2820103,0.1477139,1.1545013,-1.045467,21.134617,0.00056071138381958,42.73268222808838,65000
15
+ -2.1610715,2.1610715,0.1369629,0.9104365,-1.7359082,21.320469,0.0005540801525115966,45.50308680534363,70000
16
+ -2.1164958,2.1164958,0.13764912,1.0619974,-0.9870502,21.56359,0.0005639036655426025,48.32260799407959,75000
17
+ -2.4506285,2.4506285,0.12621218,1.656739,-1.6500388,28.01171,0.0005601189136505127,51.12320685386658,80000
18
+ -2.4688025,2.4688025,0.13755932,1.0160677,-0.64180577,20.653221,0.0005588786125183106,53.917603492736816,85000
19
+ -2.0266252,2.0266252,0.1254308,1.0375164,-1.0132208,20.565998,0.0005564789772033691,56.70000219345093,90000
20
+ -1.9928366,1.9928366,0.14938693,1.2369276,-0.9611076,23.585617,0.0005812142372131348,59.60607576370239,95000
21
+ -2.4847722,2.4847722,0.12884507,1.0522075,-0.8109198,21.643862,0.0005533445358276367,62.372801542282104,100000
22
+ -2.5226018,2.5226018,0.13914388,0.85365766,-1.0246536,19.298256,0.0013207341194152833,68.97647523880005,105000
23
+ -2.5279293,2.5279293,0.13174498,0.8441814,-0.9820653,19.571516,0.0005524605274200439,71.73878145217896,110000
24
+ -2.88315,2.88315,0.107349865,1.5034415,-1.7472079,21.208097,0.0005678357124328613,74.57796287536621,115000
25
+ -2.5686636,2.5686636,0.14587294,1.3105588,-1.0075045,20.887321,0.0005919599533081055,77.53776574134827,120000
26
+ -2.680437,2.680437,0.123893276,1.2157016,-1.6968536,19.475792,0.0005594595432281494,80.33506727218628,125000
27
+ -2.79968,2.79968,0.110364914,0.9138291,-1.0302275,19.051954,0.0005612582683563232,83.14136147499084,130000
28
+ -2.406951,2.406951,0.12284231,0.8864269,-0.834375,19.628593,0.0005533079624176025,85.90790510177612,135000
29
+ -2.3473597,2.3473597,0.12265402,0.8448007,-0.7443378,22.025846,0.000551992130279541,88.66786909103394,140000
30
+ -2.6172514,2.6172514,0.14317447,1.4506088,-0.94891423,20.722641,0.0005631203174591065,91.483473777771,145000
31
+ -2.5396557,2.5396557,0.124423176,1.5851053,-2.0714972,27.3722,0.0005669445991516114,94.318199634552,150000
32
+ -2.8022294,2.8022294,0.11717075,1.2206048,-0.82951176,22.388882,0.0005705681324005127,97.1710433959961,155000
33
+ -2.387713,2.387713,0.1237708,0.6625771,-0.8205147,20.645004,0.0005668112277984619,100.00510311126709,160000
34
+ -2.6371,2.6371,0.12756743,0.82057184,-0.8799063,19.808413,0.000561228084564209,102.81124711036682,165000
35
+ -2.973555,2.973555,0.10937237,2.0652022,-1.914805,21.859371,0.0005551633834838867,105.5870668888092,170000
36
+ -2.5164704,2.5164704,0.12001914,1.7257192,-1.3116187,19.21745,0.0005659692764282227,108.41691756248474,175000
37
+ -2.830701,2.830701,0.13393778,1.8240224,-1.6104721,25.086609,0.0005572782039642334,111.20331287384033,180000
38
+ -2.97192,2.97192,0.12855375,1.0142318,-0.6629222,19.104614,0.000574955415725708,114.07809329032898,185000
39
+ -2.7744436,2.7744436,0.13005939,1.1168464,-1.6747257,21.50903,0.0005495237827301025,116.82571530342102,190000
40
+ -2.669929,2.669929,0.1261496,0.8570021,-0.9622191,19.884933,0.0005731667518615723,119.69155287742615,195000
41
+ -2.648417,2.648417,0.12459513,0.8439371,-0.8216573,20.680946,0.0005717269897460937,122.5501925945282,200000
42
+ -2.9281092,2.9281092,0.113533676,1.008299,-0.73628014,18.435835,0.001571150255203247,130.40594673156738,205000
43
+ -2.2184079,2.2184079,0.1250584,1.4710277,-0.64346915,17.806364,0.0005512417793273926,133.16215896606445,210000
44
+ -2.6790254,2.6790254,0.12204068,1.0734206,-1.4873297,20.109005,0.0005567296504974366,135.94581031799316,215000
45
+ -3.211006,3.211006,0.122199826,1.2152131,-1.4469265,21.611977,0.0005765304088592529,138.8284649848938,220000
46
+ -3.1378455,3.1378455,0.11663948,1.0524588,-1.4826776,23.139513,0.0005613589763641358,141.63526344299316,225000
47
+ -2.7995691,2.7995691,0.12366474,1.4838871,-1.3686858,21.366169,0.0005609998226165771,144.440265417099,230000
48
+ -2.910237,2.910237,0.12608154,1.0496576,-1.3230277,19.389507,0.0005586354732513428,147.23344683647156,235000
49
+ -2.502267,2.502267,0.12542982,1.5151092,-1.0937679,20.537857,0.000562566614151001,150.04628372192383,240000
50
+ -2.5120833,2.5120833,0.12325846,1.0301377,-1.2011012,18.893993,0.0005662423133850098,152.87749814987183,245000
51
+ -3.0162528,3.0162528,0.11817339,1.2891208,-1.3281323,21.877449,0.0005702405452728272,155.7287039756775,250000
52
+ -2.2882116,2.2882116,0.1408836,1.2006717,-1.188627,21.746363,0.0005634860515594482,158.54613780975342,255000
53
+ -2.6575165,2.6575165,0.11331375,1.4878261,-1.0369534,20.589165,0.0005528326511383057,161.31030416488647,260000
54
+ -2.49563,2.49563,0.11960884,1.210137,-1.8439662,18.291176,0.0005580862045288086,164.1007387638092,265000
55
+ -3.0927067,3.0927067,0.1180477,1.0452447,-1.146921,20.492275,0.0005728006839752197,166.964745759964,270000
56
+ -2.5851192,2.5851192,0.12345758,1.927813,-1.9479125,22.576977,0.0005577325820922852,169.7534122467041,275000
57
+ -2.8013406,2.8013406,0.12897468,1.0345142,-0.9577856,19.633776,0.0005595949172973632,172.55139017105103,280000
58
+ -3.2367697,3.2367697,0.12038371,1.2453073,-0.81962186,18.69541,0.000551097822189331,175.3068826198578,285000
59
+ -2.779987,2.779987,0.12234454,0.778811,-0.7591138,17.96744,0.0005693534374237061,178.15365386009216,290000
60
+ -2.6772428,2.6772428,0.1210361,0.8101808,-1.140465,17.869705,0.0005623025894165039,180.96517157554626,295000
61
+ -2.6035929,2.6035929,0.12230866,0.83979064,-0.9588986,20.640648,0.0005670887470245362,183.80061841011047,300000
62
+ -2.786244,2.786244,0.124139994,0.8693196,-1.4031106,19.202671,0.0015091525077819824,191.3463842868805,305000
63
+ -2.5425973,2.5425973,0.11795585,1.3806251,-0.912308,19.009407,0.0005475950241088868,194.0843629837036,310000
64
+ -3.132105,3.132105,0.11130651,1.1238594,-1.9278033,21.358978,0.000563911485671997,196.90392327308655,315000
65
+ -3.12739,3.12739,0.10544404,1.0654049,-1.0768847,20.101765,0.000578588342666626,199.79686784744263,320000
66
+ -2.974559,2.974559,0.12343516,1.6508802,-1.0311525,18.788595,0.0005604196548461914,202.5989692211151,325000
67
+ -3.1990116,3.1990116,0.09680292,0.98434603,-2.5326624,20.592714,0.0005536380767822266,205.3671624660492,330000
68
+ -2.9010758,2.9010758,0.11964542,1.2315637,-1.2997928,20.859426,0.0005544679164886475,208.13950514793396,335000
69
+ -2.7581124,2.7581124,0.11548263,1.7390304,-1.8211808,21.129168,0.0005674365520477295,210.97669100761414,340000
70
+ -2.7296777,2.7296777,0.119958326,1.0508906,-0.8229152,19.199839,0.0005556482315063477,213.75493574142456,345000
71
+ -3.2908983,3.2908983,0.11057055,1.7659649,-1.2021542,20.622871,0.0005567433357238769,216.53865575790405,350000
72
+ -3.1834795,3.1834795,0.10569765,1.952108,-0.97901714,19.074345,0.0005606303215026856,219.3418107032776,355000
73
+ -2.890561,2.890561,0.12702629,0.9886012,-1.7755347,21.053192,0.0005641231536865234,222.16242957115173,360000
74
+ -2.7414932,2.7414932,0.12823793,1.16735,-1.2939998,21.032331,0.0005702000617980957,225.01343321800232,365000
75
+ -3.1413465,3.1413465,0.114836,1.2130677,-1.040397,21.696304,0.0005534609317779541,227.78074145317078,370000
76
+ -2.9587183,2.9587183,0.1374308,1.3912652,-0.91851604,19.636127,0.0005591330051422119,230.57641100883484,375000
77
+ -2.9148586,2.9148586,0.116874084,1.1624912,-1.1786441,20.944712,0.0005590110778808594,233.37146973609924,380000
78
+ -2.6974332,2.6974332,0.120054826,0.9781377,-1.561899,21.209923,0.0005575827598571778,236.15938687324524,385000
79
+ -2.9702308,2.9702308,0.10797023,0.87240666,-0.8233647,19.019304,0.0005618868350982666,238.96882438659668,390000
80
+ -3.0926735,3.0926735,0.11204447,0.8084394,-1.0024759,19.142103,0.0005592209339141846,241.76493287086487,395000
81
+ -2.9302897,2.9302897,0.114775,1.1488006,-1.130554,19.691936,0.000559615707397461,244.56301474571228,400000
82
+ -3.1408453,3.1408453,0.12103802,2.054392,-1.477071,18.128553,0.0017978188991546631,253.5521125793457,405000
83
+ -2.784152,2.784152,0.1306527,1.2595515,-1.2109121,19.06662,0.0005642063140869141,256.3731470108032,410000
84
+ -3.2823205,3.2823205,0.09766458,1.7704744,-1.5421919,20.13186,0.0005506704807281494,259.1265025138855,415000
85
+ -2.9289808,2.9289808,0.10829732,1.240451,-1.4690055,19.99573,0.0005668674945831299,261.96084332466125,420000
86
+ -3.0515661,3.0515661,0.12422578,0.69210225,-1.1745294,18.643288,0.0005573443412780762,264.74756813049316,425000
87
+ -2.3795798,2.3795798,0.13394943,1.2040374,-1.7761551,20.450151,0.0005456942558288574,267.47604298591614,430000
88
+ -2.8143358,2.8143358,0.12248033,1.459239,-0.99281484,18.122461,0.0005536977767944336,270.24453496932983,435000
89
+ -2.6707635,2.6707635,0.11158265,1.5423583,-2.1845682,21.562412,0.0005602162837982178,273.04561972618103,440000
90
+ -3.0350618,3.0350618,0.10446088,1.1843387,-1.1719656,22.248606,0.000556483268737793,275.8280391693115,445000
91
+ -2.8008852,2.8008852,0.13937303,1.4050643,-1.1673092,21.552006,0.0005602622032165527,278.62935280799866,450000
92
+ -2.9561768,2.9561768,0.1147899,1.6330296,-0.7374013,20.01329,0.0005499286651611329,281.37899947166443,455000
93
+ -3.5336642,3.5336642,0.10599619,1.3217586,-1.7545481,19.158062,0.0005666427612304688,284.2122166156769,460000
94
+ -3.237651,3.237651,0.11908238,1.2697458,-1.8029251,19.662575,0.0005478700160980224,286.9515714645386,465000
95
+ -2.4239137,2.4239137,0.1300805,0.941128,-1.2590415,18.688286,0.0005564499378204346,289.7338240146637,470000
96
+ -3.1015658,3.1015658,0.115765914,1.0352129,-1.2336301,19.541466,0.0005620000839233398,292.54382729530334,475000
97
+ -3.1473927,3.1473927,0.108334586,2.53014,-1.3486701,20.895922,0.0005576747417449952,295.3322048187256,480000
98
+ -3.1902514,3.1902514,0.107843116,0.78063375,-1.1572844,19.532753,0.0005601351261138916,298.1328835487366,485000
99
+ -2.8784003,2.8784003,0.13024358,0.9345969,-1.4699566,19.930616,0.0005560359954833985,300.9130668640137,490000
100
+ -2.7777426,2.7777426,0.121341616,1.0707289,-2.1634083,20.182882,0.0005560403823852539,303.69327306747437,495000
101
+ -3.0203857,3.0203857,0.10635373,1.0521883,-1.477863,19.190533,0.0005639804363250732,306.513179063797,500000
102
+ -3.0931015,3.0931015,0.11396431,1.3137501,-1.5995976,21.527533,0.0017194691181182861,315.11052799224854,505000
103
+ -3.170364,3.170364,0.104167186,1.4791231,-2.9811146,20.703465,0.0005595568656921386,317.9083149433136,510000
104
+ -3.3676128,3.3676128,0.10377737,1.18622,-1.179849,21.687332,0.0005753803730010987,320.78521966934204,515000
105
+ -2.9295056,2.9295056,0.14525658,1.2926815,-1.2178036,18.912527,0.0005888906478881835,323.7296769618988,520000
106
+ -2.8960586,2.8960586,0.119196706,1.6301739,-1.2120935,17.958328,0.0005625266551971435,326.54231333732605,525000
107
+ -3.0168922,3.0168922,0.1282312,1.7217329,-1.5859456,19.957005,0.0005577707767486572,329.3311696052551,530000
108
+ -3.0367525,3.0367525,0.119005136,1.4812664,-0.8557309,21.685951,0.0005549845695495605,332.10609674453735,535000
109
+ -2.406639,2.406639,0.14696021,1.0363417,-2.2980642,22.749464,0.0005633476257324219,334.92283844947815,540000
110
+ -3.0493894,3.0493894,0.12019315,1.5684601,-1.3049871,21.072514,0.0005606648921966553,337.72616624832153,545000
111
+ -3.6572433,3.6572433,0.115279675,1.1705004,-1.3146433,18.839254,0.000567543363571167,340.5638861656189,550000
112
+ -2.953298,2.953298,0.11796757,1.285443,-1.714145,19.733597,0.0005746824741363525,343.43730187416077,555000
113
+ -2.818746,2.818746,0.11406098,1.3455236,-1.774228,19.791395,0.0005570924758911133,346.222767829895,560000
114
+ -2.9643674,2.9643674,0.121127695,0.93433434,-1.4177918,20.822016,0.0005620049476623535,349.03279542922974,565000
115
+ -2.6816344,2.6816344,0.12720774,1.9287857,-1.2303772,20.601297,0.0005866414070129395,351.9660053253174,570000
116
+ -2.9319696,2.9319696,0.116970114,1.5388646,-1.4744163,19.38093,0.0005573927402496338,354.7529721260071,575000
117
+ -3.4578183,3.4578183,0.101489335,1.4706581,-1.0767103,21.442276,0.0005547279834747314,357.52661514282227,580000
118
+ -2.8773632,2.8773632,0.11388876,0.8292694,-1.4818289,20.34053,0.0005574462413787842,360.3138496875763,585000
119
+ -2.790184,2.790184,0.11385547,1.4745995,-1.4589142,20.599638,0.0005517004489898682,363.07235527038574,590000
120
+ -2.8986397,2.8986397,0.12163892,0.9928569,-1.2199647,20.155344,0.0005531477928161621,365.8380970954895,595000
121
+ -2.601071,2.601071,0.11590605,1.0879399,-1.6246328,17.7101,0.0005511546134948731,368.5938730239868,600000
122
+ -2.8082247,2.8082247,0.11658805,1.342376,-0.8773485,20.441343,0.0013958138942718507,375.5729465484619,605000
123
+ -3.112889,3.112889,0.11647332,1.0593867,-1.5843363,18.938416,0.000572114372253418,378.4335217475891,610000
124
+ -2.5481458,2.5481458,0.120927356,1.53552,-1.0014156,21.001724,0.0005868463516235351,381.3677566051483,615000
125
+ -2.7395928,2.7395928,0.121058725,0.86724955,-2.0049262,19.705648,0.0005785611629486084,384.26056575775146,620000
126
+ -2.923529,2.923529,0.12985009,2.8112924,-1.3576478,20.150003,0.0005754054546356201,387.1375961303711,625000
127
+ -2.9746242,2.9746242,0.118718386,1.4222584,-1.3849142,20.595564,0.000551587438583374,389.89553713798523,630000
128
+ -3.2442088,3.2442088,0.1098849,1.457423,-2.3014321,20.497948,0.0005549445629119873,392.6702628135681,635000
129
+ -2.471435,2.471435,0.12579864,2.702926,-1.2198676,21.66854,0.0005684977531433106,395.5127544403076,640000
130
+ -3.170557,3.170557,0.10107754,2.164347,-1.3141158,19.131248,0.0005752599716186523,398.38905692100525,645000
131
+ -3.2756934,3.2756934,0.10508746,1.8286294,-0.96342176,18.108923,0.0005676524162292481,401.2273223400116,650000
132
+ -3.0090394,3.0090394,0.10896826,1.0494288,-0.997914,18.57143,0.0005733463764190674,404.09405755996704,655000
133
+ -2.9460537,2.9460537,0.09833359,2.0486848,-0.9275553,19.57488,0.0005564394474029541,406.87625885009766,660000
134
+ -3.4152308,3.4152308,0.11017408,0.8573168,-1.3217423,19.606283,0.0005600025177001953,409.6762754917145,665000
135
+ -3.255163,3.255163,0.114090905,0.8695143,-1.7457608,21.73115,0.000546337366104126,412.40796542167664,670000
136
+ -3.4581017,3.4581017,0.12509274,1.0122185,-1.1018344,20.444925,0.000545103931427002,415.13348841667175,675000
137
+ -2.594489,2.594489,0.12974164,1.5758868,-1.5836271,20.161884,0.0005610966205596924,417.93897461891174,680000
138
+ -3.1256628,3.1256628,0.12879871,1.528714,-1.8051308,19.142046,0.0005531415462493896,420.7046859264374,685000
139
+ -2.949759,2.949759,0.12160554,1.8405707,-0.9265812,19.304821,0.0005638245582580566,423.52381205558777,690000
140
+ -2.9258394,2.9258394,0.12613773,1.9159223,-1.5232666,19.733736,0.0005748372077941894,426.3980014324188,695000
141
+ -2.9517365,2.9517365,0.104308754,1.1347524,-1.3553865,20.37054,0.0005619399547576905,429.2077045440674,700000
142
+ -3.2672105,3.2672105,0.119919054,2.070845,-1.1267854,20.14104,0.0014774298191070556,436.59485721588135,705000
143
+ -2.8374717,2.8374717,0.11563969,1.063344,-1.1284164,19.095362,0.0005698982715606689,439.44435143470764,710000
144
+ -2.8238583,2.8238583,0.12310715,1.275495,-1.1721748,19.821629,0.0005661271095275879,442.2749903202057,715000
145
+ -2.9109013,2.9109013,0.11237067,0.9743795,-1.6439422,18.957745,0.0005930551528930664,445.2402687072754,720000
146
+ -3.042645,3.042645,0.10779031,1.2828147,-0.9280638,19.273268,0.0005863711833953857,448.1721279621124,725000
147
+ -3.0231,3.0231,0.11044264,1.1779032,-1.3038517,20.102854,0.0005611721992492676,450.9779920578003,730000
148
+ -2.6341953,2.6341953,0.119766936,1.4302329,-1.4448483,20.387045,0.0005546496868133545,453.75124335289,735000
149
+ -3.0085151,3.0085151,0.11176203,0.9007221,-1.0997329,16.554882,0.0005637982368469238,456.57023787498474,740000
150
+ -2.6992223,2.6992223,0.12011604,1.0325228,-1.264149,17.845537,0.0005684982299804688,459.41273283958435,745000
151
+ -3.4443023,3.4443023,0.10548907,0.99613506,-1.1398196,19.52227,0.0005741069316864013,462.2832705974579,750000
152
+ -2.854786,2.854786,0.13020423,1.3077587,-0.90278333,18.709387,0.0005646252155303955,465.1063997745514,755000
153
+ -3.1697302,3.1697302,0.10684326,1.5866172,-1.4261861,18.235481,0.0005681691646575928,467.94724917411804,760000
154
+ -3.2942252,3.2942252,0.1028354,2.3611348,-1.2471159,19.914,0.0005910531044006348,470.9025182723999,765000
155
+ -2.7046876,2.7046876,0.11629465,0.8502662,-1.2207512,20.689585,0.0005634469985961914,473.7197561264038,770000
156
+ -3.3950822,3.3950822,0.117316924,1.1399376,-1.5917819,19.234657,0.0005563995361328125,476.50175738334656,775000
157
+ -3.0008602,3.0008602,0.10733953,1.8424232,-1.6852269,18.670757,0.0005654494762420654,479.32900762557983,780000
158
+ -2.4101434,2.4101434,0.12426007,1.3593134,-1.4856772,22.519405,0.0005731377124786377,482.1946997642517,785000
159
+ -3.082157,3.082157,0.114681825,1.5457373,-1.3632171,18.926758,0.0005670711040496827,485.0300590991974,790000
160
+ -2.5771213,2.5771213,0.118645,0.92166585,-1.0520382,18.997984,0.0005890286922454834,487.97520565986633,795000
161
+ -2.5344744,2.5344744,0.12063365,1.871589,-1.8670173,21.012646,0.0005615671157836915,490.78304505348206,800000
162
+ -2.971925,2.971925,0.13303491,0.9636166,-1.0978037,18.490042,0.0018952581882476806,500.259339094162,805000
163
+ -3.046349,3.046349,0.11873835,1.2433397,-1.0523454,20.785738,0.0005563862323760986,503.04127407073975,810000
164
+ -2.57588,2.57588,0.108511224,0.8392124,-1.6685903,22.20044,0.0005647581577301026,505.8650686740875,815000
165
+ -3.6242394,3.6242394,0.10487517,1.2766501,-0.84382534,18.101177,0.0005467420101165772,508.5987823009491,820000
166
+ -2.6914587,2.6914587,0.12016967,1.0803629,-1.7103289,20.122213,0.0005677072048187255,511.43732142448425,825000
167
+ -3.6785226,3.6785226,0.10699016,1.7726972,-1.5172927,20.867748,0.0005616757392883301,514.2457029819489,830000
168
+ -2.6872447,2.6872447,0.12310645,1.259149,-1.4605851,20.876951,0.0005598562240600586,517.044988155365,835000
169
+ -3.0090673,3.0090673,0.12013489,1.2717793,-1.5269536,18.579996,0.0005549364566802979,519.8196732997894,840000
170
+ -2.641315,2.641315,0.122038834,1.2200269,-1.6022781,18.986881,0.0005563327789306641,522.6013407707214,845000
171
+ -2.921941,2.921941,0.11863606,1.2647687,-1.9048957,20.58503,0.0005550704956054687,525.3766968250275,850000
172
+ -3.1981244,3.1981244,0.11782052,1.1864502,-1.2340035,18.058474,0.0005576099395751954,528.1647493839264,855000
173
+ -2.9349527,2.9349527,0.1274685,1.86131,-1.5264475,18.023441,0.0005470736503601074,530.9001216888428,860000
174
+ -3.546651,3.546651,0.10424789,3.664904,-2.542716,21.83545,0.0005884788036346436,533.8425192832947,865000
175
+ -2.987423,2.987423,0.11294531,1.6285685,-1.3638624,20.20348,0.0005558596134185791,536.6218211650848,870000
176
+ -3.0982895,3.0982895,0.11705606,1.3815213,-1.8194779,18.805626,0.0005563453674316406,539.4035513401031,875000
177
+ -3.075529,3.075529,0.1419253,0.99743986,-1.0123543,18.073904,0.0005509588241577149,542.158349275589,880000
178
+ -2.7526248,2.7526248,0.11581644,1.8970095,-1.4251088,18.384037,0.0005601253032684326,544.9589788913727,885000
179
+ -2.8829155,2.8829155,0.11924009,1.3144555,-1.1065091,20.292583,0.0005571668148040772,547.7448165416718,890000
180
+ -3.5307899,3.5307899,0.10671051,2.2133424,-2.046162,21.524563,0.0005661198139190674,550.5754187107086,895000
181
+ -3.3829367,3.3829367,0.1245025,1.2344474,-1.7815006,19.697723,0.0005667077541351318,553.4089612960815,900000
182
+ -3.3959029,3.3959029,0.09835671,1.0095676,-1.2402833,20.83312,0.0014850759029388428,560.8343441486359,905000
183
+ -2.8844922,2.8844922,0.120838396,1.1519742,-1.2098293,18.601954,0.0005741620063781738,563.7051618099213,910000
184
+ -3.5502086,3.5502086,0.112630785,1.4365323,-1.6877791,20.349731,0.0005643645286560058,566.5269889831543,915000
185
+ -2.774302,2.774302,0.114875756,2.565819,-1.0539253,21.069384,0.0005603329658508301,569.3286571502686,920000
186
+ -2.992507,2.992507,0.13307247,1.3203235,-1.072764,22.320248,0.0005593940258026123,572.1256306171417,925000
187
+ -3.236088,3.236088,0.10745736,1.3278999,-1.3593934,23.108574,0.0005556983947753906,574.9041261672974,930000
188
+ -3.0365736,3.0365736,0.122436546,0.9220574,-1.133201,17.617756,0.0005682336807250976,577.7452981472015,935000
189
+ -3.2763731,3.2763731,0.1113893,1.7190974,-0.9792335,18.154598,0.0005608617782592773,580.5496106147766,940000
190
+ -2.792633,2.792633,0.12097966,1.42575,-1.7283696,19.695614,0.0005639945507049561,583.3695864677429,945000
191
+ -2.4917872,2.4917872,0.12867767,1.0391197,-1.4250085,19.714369,0.0005820808410644531,586.2799944877625,950000
192
+ -3.2681704,3.2681704,0.1332513,1.1209157,-1.1667535,17.790833,0.0005591160297393799,589.075578212738,955000
193
+ -2.718707,2.718707,0.12432553,0.87571865,-1.0949862,19.959534,0.0005568999767303467,591.860081911087,960000
194
+ -2.3515906,2.3515906,0.13309887,2.236156,-1.6398704,20.905256,0.000550019121170044,594.6101808547974,965000
195
+ -3.0331166,3.0331166,0.12509449,1.4865454,-1.1684344,20.229445,0.0005587804317474366,597.4040861129761,970000
196
+ -2.719326,2.719326,0.12588844,1.614487,-1.3882829,17.783476,0.0005623932838439941,600.2160568237305,975000
197
+ -2.6514714,2.6514714,0.12846386,0.9230649,-1.3540844,20.213146,0.0005559686660766602,602.9959037303925,980000
198
+ -2.6657605,2.6657605,0.1220864,1.2108251,-1.3817525,20.65153,0.0005559354782104492,605.7755844593048,985000
199
+ -3.2415094,3.2415094,0.10722071,1.0693588,-1.509845,20.486061,0.000559334135055542,608.5722584724426,990000
200
+ -3.1539257,3.1539257,0.12810329,1.7845339,-1.432821,22.28087,0.0005657124042510986,611.4008238315582,995000
201
+ -2.6100464,2.6100464,0.11773197,1.0768077,-1.199626,19.170954,0.0005556649684906006,614.1791517734528,1000000