diff --git a/hopper_medium_expert_sparse/mbpo_based/kde/seed_42_0329_235228_hopper_medium_expert_v2_gormpo_sparse_78/policy_hopper-medium-expert-v2.pth b/hopper_medium_expert_sparse/mbpo_based/kde/seed_42_0329_235228_hopper_medium_expert_v2_gormpo_sparse_78/policy_hopper-medium-expert-v2.pth new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mbpo_based/neuralODE/seed_123_0329_154924_hopper_medium_expert_v2_gormpo_sparse_78/policy_hopper-medium-expert-v2.pth b/hopper_medium_expert_sparse/mbpo_based/neuralODE/seed_123_0329_154924_hopper_medium_expert_v2_gormpo_sparse_78/policy_hopper-medium-expert-v2.pth new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mbpo_based/realnvp/seed_123_0329_125153_hopper_medium_expert_v2_gormpo_sparse_78/policy_hopper-medium-expert-v2.pth b/hopper_medium_expert_sparse/mbpo_based/realnvp/seed_123_0329_125153_hopper_medium_expert_v2_gormpo_sparse_78/policy_hopper-medium-expert-v2.pth new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mobile_based/diffusion/seed_123×tamp_26-0317-191425/record/consoleout_backup.txt b/hopper_medium_expert_sparse/mobile_based/diffusion/seed_123×tamp_26-0317-191425/record/consoleout_backup.txt new file mode 100644 index 0000000000000000000000000000000000000000..5c91812c39546f22e39fa9ff31fb2453e5a395bd --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/diffusion/seed_123×tamp_26-0317-191425/record/consoleout_backup.txt @@ -0,0 +1,4021 @@ +num rollout transitions: 246364, reward mean: 2.7918 +num rollout transitions: 249015, reward mean: 2.9080 +num rollout transitions: 249340, reward mean: 2.9194 +num rollout transitions: 249343, reward mean: 2.9531 +num rollout transitions: 249338, reward mean: 2.9980 +num rollout transitions: 249372, reward mean: 2.9832 +num rollout transitions: 249330, reward mean: 2.9523 +num rollout transitions: 249303, reward mean: 2.9461 +num rollout transitions: 249313, reward mean: 2.9392 +num rollout transitions: 249282, reward mean: 2.9715 +num rollout transitions: 249346, reward mean: 2.9725 +num rollout transitions: 249254, reward mean: 2.9724 +num rollout transitions: 249375, reward mean: 2.9143 +num rollout transitions: 249347, reward mean: 2.9801 +num rollout transitions: 249395, reward mean: 2.9561 +num rollout transitions: 249368, reward mean: 2.9756 +num rollout transitions: 249363, reward mean: 3.0020 +num rollout transitions: 249321, reward mean: 2.9849 +num rollout transitions: 249400, reward mean: 3.0366 +num rollout transitions: 249310, reward mean: 3.0325 +num rollout transitions: 249312, reward mean: 3.0151 +num rollout transitions: 249361, reward mean: 2.9795 +num rollout transitions: 249385, reward mean: 2.9787 +num rollout transitions: 249274, reward mean: 2.9738 +num rollout transitions: 249355, reward mean: 2.9577 +num rollout transitions: 249384, reward mean: 3.0056 +num rollout transitions: 249325, reward mean: 3.0193 +num rollout transitions: 249300, reward mean: 3.0082 +num rollout transitions: 249393, reward mean: 2.9927 +num rollout transitions: 249379, reward mean: 3.0046 +num rollout transitions: 249269, reward mean: 3.0055 +num rollout transitions: 249320, reward mean: 3.0155 +num rollout transitions: 249286, reward mean: 3.0257 +num rollout transitions: 249357, reward mean: 3.0308 +num rollout transitions: 249351, reward mean: 3.0403 +num rollout transitions: 249363, reward mean: 3.0311 +num rollout transitions: 249398, reward mean: 3.0314 +num rollout transitions: 249250, reward mean: 3.0043 +num rollout transitions: 249333, reward mean: 3.0275 +num rollout transitions: 249183, reward mean: 3.0286 +num rollout transitions: 249336, reward mean: 2.9727 +num rollout transitions: 249309, reward mean: 3.0050 +num rollout transitions: 249315, reward mean: 3.0087 +num rollout transitions: 249280, reward mean: 3.0310 +num rollout transitions: 249350, reward mean: 3.0016 +num rollout transitions: 249317, reward mean: 3.0355 +num rollout transitions: 249305, reward mean: 3.0066 +num rollout transitions: 249282, reward mean: 3.0096 +num rollout transitions: 249385, reward mean: 3.0191 +num rollout transitions: 249334, reward mean: 3.0276 +---------------------------------------------------------------------------------- +| alpha | 0.243 | +| eval/episode_length | 52.5 | +| eval/episode_length_std | 2.13 | +| eval/normalized_episode_reward | 3.48 | +| eval/normalized_episode_reward_std | 0.757 | +| loss/actor | -316 | +| loss/alpha | -0.991 | +| loss/critic | 17.5 | +| penalty/lcb_mean | 0.414 | +| penalty/lcb_std | 0.58 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.99 | +| timestep | 50000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249323, reward mean: 3.0406 +num rollout transitions: 249247, reward mean: 3.0140 +num rollout transitions: 249230, reward mean: 3.0507 +num rollout transitions: 249318, reward mean: 3.0453 +num rollout transitions: 249251, reward mean: 3.0313 +num rollout transitions: 249325, reward mean: 3.0314 +num rollout transitions: 249342, reward mean: 3.0199 +num rollout transitions: 249330, reward mean: 3.0277 +num rollout transitions: 249325, reward mean: 2.9656 +num rollout transitions: 249290, reward mean: 2.9921 +num rollout transitions: 249303, reward mean: 2.9719 +num rollout transitions: 249261, reward mean: 2.9429 +num rollout transitions: 249337, reward mean: 2.9721 +num rollout transitions: 249262, reward mean: 2.9524 +num rollout transitions: 249245, reward mean: 2.9507 +num rollout transitions: 249273, reward mean: 2.9834 +num rollout transitions: 249255, reward mean: 2.9567 +num rollout transitions: 249367, reward mean: 2.9601 +num rollout transitions: 249365, reward mean: 3.0066 +num rollout transitions: 249315, reward mean: 2.9858 +num rollout transitions: 249309, reward mean: 2.9882 +num rollout transitions: 249343, reward mean: 2.9693 +num rollout transitions: 249360, reward mean: 2.9485 +num rollout transitions: 249137, reward mean: 2.9295 +num rollout transitions: 249310, reward mean: 2.9895 +num rollout transitions: 249359, reward mean: 2.9356 +num rollout transitions: 249303, reward mean: 2.9731 +num rollout transitions: 249167, reward mean: 2.9343 +num rollout transitions: 249387, reward mean: 2.9597 +num rollout transitions: 249248, reward mean: 2.9408 +num rollout transitions: 249317, reward mean: 2.9494 +num rollout transitions: 249427, reward mean: 2.9430 +num rollout transitions: 249309, reward mean: 2.9348 +num rollout transitions: 249248, reward mean: 2.9552 +num rollout transitions: 249325, reward mean: 2.9392 +num rollout transitions: 249312, reward mean: 2.9384 +num rollout transitions: 249254, reward mean: 2.9561 +num rollout transitions: 249304, reward mean: 2.9660 +num rollout transitions: 249369, reward mean: 2.9431 +num rollout transitions: 249384, reward mean: 2.9562 +num rollout transitions: 249237, reward mean: 2.9726 +num rollout transitions: 249332, reward mean: 2.9376 +num rollout transitions: 249423, reward mean: 2.9250 +num rollout transitions: 249285, reward mean: 2.9500 +num rollout transitions: 249315, reward mean: 2.9340 +num rollout transitions: 249332, reward mean: 2.9127 +num rollout transitions: 249319, reward mean: 2.9166 +num rollout transitions: 249288, reward mean: 2.9383 +num rollout transitions: 249393, reward mean: 2.9303 +num rollout transitions: 249309, reward mean: 2.9282 +---------------------------------------------------------------------------------- +| alpha | 0.0931 | +| eval/episode_length | 38.4 | +| eval/episode_length_std | 7.18 | +| eval/normalized_episode_reward | 2.48 | +| eval/normalized_episode_reward_std | 1.16 | +| loss/actor | -469 | +| loss/alpha | -0.0307 | +| loss/critic | 19.9 | +| penalty/lcb_mean | 0.423 | +| penalty/lcb_std | 0.722 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.97 | +| timestep | 100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249314, reward mean: 2.9306 +num rollout transitions: 249281, reward mean: 2.9153 +num rollout transitions: 249359, reward mean: 2.9138 +num rollout transitions: 249297, reward mean: 2.9182 +num rollout transitions: 249284, reward mean: 2.9402 +num rollout transitions: 249183, reward mean: 2.9226 +num rollout transitions: 249392, reward mean: 2.8943 +num rollout transitions: 249306, reward mean: 2.9173 +num rollout transitions: 249289, reward mean: 2.8880 +num rollout transitions: 249268, reward mean: 2.9163 +num rollout transitions: 249331, reward mean: 2.9196 +num rollout transitions: 249365, reward mean: 2.8981 +num rollout transitions: 249358, reward mean: 2.9003 +num rollout transitions: 249333, reward mean: 2.9197 +num rollout transitions: 249330, reward mean: 2.8824 +num rollout transitions: 249354, reward mean: 2.9155 +num rollout transitions: 249277, reward mean: 2.9009 +num rollout transitions: 249385, reward mean: 2.9263 +num rollout transitions: 249376, reward mean: 2.9270 +num rollout transitions: 249333, reward mean: 2.9021 +num rollout transitions: 249306, reward mean: 2.9097 +num rollout transitions: 249328, reward mean: 2.9212 +num rollout transitions: 249348, reward mean: 2.9066 +num rollout transitions: 249335, reward mean: 2.9239 +num rollout transitions: 249358, reward mean: 2.9076 +num rollout transitions: 249296, reward mean: 2.9090 +num rollout transitions: 249384, reward mean: 2.9273 +num rollout transitions: 249378, reward mean: 2.9143 +num rollout transitions: 249180, reward mean: 2.9440 +num rollout transitions: 249336, reward mean: 2.9225 +num rollout transitions: 249216, reward mean: 2.9298 +num rollout transitions: 249391, reward mean: 2.9201 +num rollout transitions: 249326, reward mean: 2.9094 +num rollout transitions: 249296, reward mean: 2.9371 +num rollout transitions: 249318, reward mean: 2.9129 +num rollout transitions: 249264, reward mean: 2.9028 +num rollout transitions: 249284, reward mean: 2.9144 +num rollout transitions: 249363, reward mean: 2.9232 +num rollout transitions: 249322, reward mean: 2.9067 +num rollout transitions: 249388, reward mean: 2.9020 +num rollout transitions: 249334, reward mean: 2.9155 +num rollout transitions: 249315, reward mean: 2.9012 +num rollout transitions: 249358, reward mean: 2.8937 +num rollout transitions: 249391, reward mean: 2.9104 +num rollout transitions: 249339, reward mean: 2.9036 +num rollout transitions: 249329, reward mean: 2.8864 +num rollout transitions: 249259, reward mean: 2.9185 +num rollout transitions: 249192, reward mean: 2.9325 +num rollout transitions: 249332, reward mean: 2.9090 +num rollout transitions: 249285, reward mean: 2.8830 +---------------------------------------------------------------------------------- +| alpha | 0.0752 | +| eval/episode_length | 55.4 | +| eval/episode_length_std | 0.686 | +| eval/normalized_episode_reward | 3.8 | +| eval/normalized_episode_reward_std | 0.667 | +| loss/actor | -357 | +| loss/alpha | -0.0314 | +| loss/critic | 10.2 | +| penalty/lcb_mean | 0.337 | +| penalty/lcb_std | 0.533 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.91 | +| timestep | 150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249227, reward mean: 2.8786 +num rollout transitions: 249232, reward mean: 2.9009 +num rollout transitions: 249255, reward mean: 2.9220 +num rollout transitions: 249354, reward mean: 2.9009 +num rollout transitions: 249275, reward mean: 2.8914 +num rollout transitions: 249316, reward mean: 2.8905 +num rollout transitions: 249329, reward mean: 2.8781 +num rollout transitions: 249376, reward mean: 2.8993 +num rollout transitions: 249277, reward mean: 2.8875 +num rollout transitions: 249302, reward mean: 2.8676 +num rollout transitions: 249266, reward mean: 2.9093 +num rollout transitions: 249297, reward mean: 2.8950 +num rollout transitions: 249324, reward mean: 2.8851 +num rollout transitions: 249224, reward mean: 2.8733 +num rollout transitions: 249319, reward mean: 2.8955 +num rollout transitions: 249347, reward mean: 2.9103 +num rollout transitions: 249330, reward mean: 2.9117 +num rollout transitions: 249265, reward mean: 2.8617 +num rollout transitions: 249334, reward mean: 2.8971 +num rollout transitions: 249390, reward mean: 2.8809 +num rollout transitions: 249255, reward mean: 2.8898 +num rollout transitions: 249308, reward mean: 2.8961 +num rollout transitions: 249354, reward mean: 2.8964 +num rollout transitions: 249237, reward mean: 2.9077 +num rollout transitions: 249321, reward mean: 2.9152 +num rollout transitions: 249308, reward mean: 2.9003 +num rollout transitions: 249335, reward mean: 2.8874 +num rollout transitions: 249297, reward mean: 2.8765 +num rollout transitions: 249287, reward mean: 2.8610 +num rollout transitions: 249305, reward mean: 2.8797 +num rollout transitions: 249338, reward mean: 2.8913 +num rollout transitions: 249326, reward mean: 2.8625 +num rollout transitions: 249281, reward mean: 2.8963 +num rollout transitions: 249401, reward mean: 2.8742 +num rollout transitions: 249253, reward mean: 2.8467 +num rollout transitions: 249361, reward mean: 2.8584 +num rollout transitions: 249313, reward mean: 2.8733 +num rollout transitions: 249293, reward mean: 2.8639 +num rollout transitions: 249381, reward mean: 2.8982 +num rollout transitions: 249322, reward mean: 2.9134 +num rollout transitions: 249345, reward mean: 2.8664 +num rollout transitions: 249340, reward mean: 2.8652 +num rollout transitions: 249276, reward mean: 2.8519 +num rollout transitions: 249359, reward mean: 2.8753 +num rollout transitions: 249370, reward mean: 2.8704 +num rollout transitions: 249314, reward mean: 2.8851 +num rollout transitions: 249357, reward mean: 2.8535 +num rollout transitions: 249319, reward mean: 2.8622 +num rollout transitions: 249256, reward mean: 2.8434 +num rollout transitions: 249306, reward mean: 2.8480 +---------------------------------------------------------------------------------- +| alpha | 0.0499 | +| eval/episode_length | 67.1 | +| eval/episode_length_std | 0.835 | +| eval/normalized_episode_reward | 4.74 | +| eval/normalized_episode_reward_std | 0.679 | +| loss/actor | -289 | +| loss/alpha | -0.0861 | +| loss/critic | 6.75 | +| penalty/lcb_mean | 0.231 | +| penalty/lcb_std | 0.38 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.88 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249268, reward mean: 2.8722 +num rollout transitions: 249313, reward mean: 2.8593 +num rollout transitions: 249252, reward mean: 2.8749 +num rollout transitions: 249326, reward mean: 2.8595 +num rollout transitions: 249360, reward mean: 2.8749 +num rollout transitions: 249217, reward mean: 2.8471 +num rollout transitions: 249312, reward mean: 2.9071 +num rollout transitions: 249266, reward mean: 2.8724 +num rollout transitions: 249272, reward mean: 2.8582 +num rollout transitions: 249281, reward mean: 2.8598 +num rollout transitions: 249266, reward mean: 2.8806 +num rollout transitions: 249340, reward mean: 2.8791 +num rollout transitions: 249348, reward mean: 2.8615 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0331 | +| eval/episode_length | 27.5 | +| eval/episode_length_std | 55.6 | +| eval/normalized_episode_reward | 2.29 | +| eval/normalized_episode_reward_std | 6.67 | +| loss/actor | -263 | +| loss/alpha | 0.0028 | +| loss/critic | 5.34 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.335 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.86 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249278, reward mean: 2.8876 +num rollout transitions: 249336, reward mean: 2.8943 +num rollout transitions: 249302, reward mean: 2.8756 +num rollout transitions: 249284, reward mean: 2.8339 +num rollout transitions: 249303, reward mean: 2.8731 +num rollout transitions: 249339, reward mean: 2.8510 +num rollout transitions: 249272, reward mean: 2.8509 +num rollout transitions: 249353, reward mean: 2.8531 +num rollout transitions: 249340, reward mean: 2.8472 +num rollout transitions: 249322, reward mean: 2.8458 +num rollout transitions: 249273, reward mean: 2.8373 +num rollout transitions: 249331, reward mean: 2.8393 +num rollout transitions: 249341, reward mean: 2.8548 +num rollout transitions: 249290, reward mean: 2.8626 +num rollout transitions: 249275, reward mean: 2.8287 +num rollout transitions: 249321, reward mean: 2.8524 +num rollout transitions: 249331, reward mean: 2.8749 +num rollout transitions: 249305, reward mean: 2.8394 +num rollout transitions: 249339, reward mean: 2.8526 +num rollout transitions: 249385, reward mean: 2.8591 +num rollout transitions: 249323, reward mean: 2.8381 +num rollout transitions: 249326, reward mean: 2.8365 +num rollout transitions: 249381, reward mean: 2.8296 +num rollout transitions: 249322, reward mean: 2.8464 +num rollout transitions: 249347, reward mean: 2.8388 +num rollout transitions: 249360, reward mean: 2.8589 +num rollout transitions: 249290, reward mean: 2.8443 +num rollout transitions: 249312, reward mean: 2.8577 +num rollout transitions: 249289, reward mean: 2.8369 +num rollout transitions: 249301, reward mean: 2.8593 +num rollout transitions: 249285, reward mean: 2.8269 +num rollout transitions: 249351, reward mean: 2.8502 +num rollout transitions: 249362, reward mean: 2.8462 +num rollout transitions: 249333, reward mean: 2.8321 +num rollout transitions: 249334, reward mean: 2.8670 +num rollout transitions: 249364, reward mean: 2.8349 +num rollout transitions: 249281, reward mean: 2.8769 +num rollout transitions: 249366, reward mean: 2.8450 +num rollout transitions: 249273, reward mean: 2.8153 +num rollout transitions: 249251, reward mean: 2.8146 +num rollout transitions: 249360, reward mean: 2.7974 +num rollout transitions: 249261, reward mean: 2.8307 +num rollout transitions: 249329, reward mean: 2.8489 +num rollout transitions: 249281, reward mean: 2.8299 +num rollout transitions: 249335, reward mean: 2.8734 +num rollout transitions: 249263, reward mean: 2.8619 +num rollout transitions: 249451, reward mean: 2.8527 +num rollout transitions: 249286, reward mean: 2.8298 +num rollout transitions: 249319, reward mean: 2.8367 +num rollout transitions: 249339, reward mean: 2.8177 +---------------------------------------------------------------------------------- +| alpha | 0.0287 | +| eval/episode_length | 47.3 | +| eval/episode_length_std | 1.06 | +| eval/normalized_episode_reward | 3.03 | +| eval/normalized_episode_reward_std | 0.703 | +| loss/actor | -260 | +| loss/alpha | -0.0465 | +| loss/critic | 4.94 | +| penalty/lcb_mean | 0.175 | +| penalty/lcb_std | 0.327 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.85 | +| timestep | 300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249306, reward mean: 2.8013 +num rollout transitions: 249370, reward mean: 2.8314 +num rollout transitions: 249234, reward mean: 2.8024 +num rollout transitions: 249258, reward mean: 2.8627 +num rollout transitions: 249283, reward mean: 2.8565 +num rollout transitions: 249365, reward mean: 2.8467 +num rollout transitions: 249321, reward mean: 2.8540 +num rollout transitions: 249363, reward mean: 2.8620 +num rollout transitions: 249421, reward mean: 2.8439 +num rollout transitions: 249401, reward mean: 2.8571 +num rollout transitions: 249376, reward mean: 2.8351 +num rollout transitions: 249338, reward mean: 2.8641 +num rollout transitions: 249368, reward mean: 2.8609 +num rollout transitions: 249341, reward mean: 2.8525 +num rollout transitions: 249281, reward mean: 2.8398 +num rollout transitions: 249256, reward mean: 2.8291 +num rollout transitions: 249326, reward mean: 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transitions: 249326, reward mean: 2.8124 +num rollout transitions: 249328, reward mean: 2.8682 +num rollout transitions: 249344, reward mean: 2.7916 +num rollout transitions: 249391, reward mean: 2.8379 +num rollout transitions: 249308, reward mean: 2.8328 +num rollout transitions: 249390, reward mean: 2.8460 +num rollout transitions: 249277, reward mean: 2.8448 +num rollout transitions: 249315, reward mean: 2.8316 +num rollout transitions: 249269, reward mean: 2.8451 +num rollout transitions: 249340, reward mean: 2.8466 +num rollout transitions: 249309, reward mean: 2.8379 +num rollout transitions: 249294, reward mean: 2.8345 +num rollout transitions: 249368, reward mean: 2.8372 +num rollout transitions: 249297, reward mean: 2.8352 +num rollout transitions: 249360, reward mean: 2.8369 +---------------------------------------------------------------------------------- +| alpha | 0.0273 | +| eval/episode_length | 231 | +| eval/episode_length_std | 1.01 | +| eval/normalized_episode_reward | 22.4 | +| eval/normalized_episode_reward_std | 0.764 | +| loss/actor | -259 | +| loss/alpha | 0.00934 | +| loss/critic | 5.1 | +| penalty/lcb_mean | 0.178 | +| penalty/lcb_std | 0.34 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249342, reward mean: 2.8189 +num rollout transitions: 249326, reward mean: 2.8626 +num rollout transitions: 249291, reward mean: 2.8256 +num rollout transitions: 249299, reward mean: 2.8194 +num rollout transitions: 249338, reward mean: 2.8299 +num rollout transitions: 249327, reward mean: 2.8568 +num rollout transitions: 249329, reward mean: 2.8200 +num rollout transitions: 249339, reward mean: 2.8449 +num rollout transitions: 249331, reward mean: 2.8348 +num rollout 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transitions: 249415, reward mean: 2.8117 +num rollout transitions: 249284, reward mean: 2.8220 +num rollout transitions: 249325, reward mean: 2.8172 +num rollout transitions: 249305, reward mean: 2.8254 +---------------------------------------------------------------------------------- +| alpha | 0.0256 | +| eval/episode_length | 825 | +| eval/episode_length_std | 176 | +| eval/normalized_episode_reward | 89.3 | +| eval/normalized_episode_reward_std | 20 | +| loss/actor | -260 | +| loss/alpha | 0.00805 | +| loss/critic | 4.52 | +| penalty/lcb_mean | 0.177 | +| penalty/lcb_std | 0.335 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249353, reward mean: 2.8201 +num rollout transitions: 249243, reward mean: 2.8333 +num rollout transitions: 249343, reward mean: 2.8530 +num rollout transitions: 249391, reward mean: 2.8290 +num rollout transitions: 249253, reward mean: 2.8262 +num rollout transitions: 249345, reward mean: 2.8361 +num rollout transitions: 249299, reward mean: 2.8077 +num rollout transitions: 249353, reward mean: 2.8227 +num rollout transitions: 249341, reward mean: 2.8429 +num rollout transitions: 249276, reward mean: 2.8184 +num rollout transitions: 249317, reward mean: 2.8374 +num rollout transitions: 249340, reward mean: 2.8065 +num rollout transitions: 249291, reward mean: 2.8231 +num rollout transitions: 249303, reward mean: 2.8303 +num rollout transitions: 249310, reward mean: 2.8354 +num rollout transitions: 249345, reward mean: 2.8248 +num rollout transitions: 249310, reward mean: 2.8434 +num rollout transitions: 249315, reward mean: 2.8337 +num rollout transitions: 249344, reward mean: 2.8357 +num rollout transitions: 249341, reward mean: 2.8082 +num rollout transitions: 249384, reward 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transitions: 249347, reward mean: 2.8470 +num rollout transitions: 249325, reward mean: 2.8315 +num rollout transitions: 249362, reward mean: 2.8243 +num rollout transitions: 249334, reward mean: 2.8262 +num rollout transitions: 249286, reward mean: 2.8239 +num rollout transitions: 249279, reward mean: 2.8255 +num rollout transitions: 249255, reward mean: 2.8501 +num rollout transitions: 249317, reward mean: 2.8323 +num rollout transitions: 249359, reward mean: 2.8183 +num rollout transitions: 249389, reward mean: 2.8152 +num rollout transitions: 249300, reward mean: 2.8294 +---------------------------------------------------------------------------------- +| alpha | 0.0268 | +| eval/episode_length | 654 | +| eval/episode_length_std | 240 | +| eval/normalized_episode_reward | 72.4 | +| eval/normalized_episode_reward_std | 28.1 | +| loss/actor | -261 | +| loss/alpha | 0.00856 | +| loss/critic | 4.71 | +| penalty/lcb_mean | 0.184 | +| penalty/lcb_std | 0.351 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249336, reward mean: 2.8580 +num rollout transitions: 249377, reward mean: 2.8287 +num rollout transitions: 249248, reward mean: 2.8219 +num rollout transitions: 249357, reward mean: 2.8267 +num rollout transitions: 249299, reward mean: 2.8293 +num rollout transitions: 249396, reward mean: 2.8044 +num rollout transitions: 249295, reward mean: 2.8306 +num rollout transitions: 249333, reward mean: 2.8307 +num rollout transitions: 249289, reward mean: 2.8309 +num rollout transitions: 249329, reward mean: 2.8124 +num rollout transitions: 249324, reward mean: 2.8099 +num rollout transitions: 249338, reward mean: 2.8199 +num rollout transitions: 249327, reward mean: 2.8602 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0264 | +| eval/episode_length | 952 | +| eval/episode_length_std | 120 | +| eval/normalized_episode_reward | 104 | +| eval/normalized_episode_reward_std | 14.2 | +| loss/actor | -263 | +| loss/alpha | 0.0143 | +| loss/critic | 4.99 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.356 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249327, reward mean: 2.8320 +num rollout transitions: 249335, reward mean: 2.8511 +num rollout transitions: 249370, reward mean: 2.8345 +num rollout transitions: 249257, reward mean: 2.8258 +num rollout transitions: 249343, reward mean: 2.8305 +num rollout transitions: 249330, reward mean: 2.8357 +num 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| 32.8 | +| eval/normalized_episode_reward_std | 24.9 | +| loss/actor | -263 | +| loss/alpha | -0.00646 | +| loss/critic | 3.06 | +| penalty/lcb_mean | 0.19 | +| penalty/lcb_std | 0.364 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249357, reward mean: 2.8320 +num rollout transitions: 249358, reward mean: 2.8220 +num rollout transitions: 249352, reward mean: 2.8214 +num rollout transitions: 249291, reward mean: 2.8537 +num rollout transitions: 249307, reward mean: 2.8032 +num rollout transitions: 249341, reward mean: 2.8348 +num rollout transitions: 249356, reward mean: 2.8236 +num rollout transitions: 249290, reward mean: 2.8309 +num rollout transitions: 249366, reward mean: 2.8291 +num rollout transitions: 249368, reward mean: 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mean: 2.8377 +num rollout transitions: 249363, reward mean: 2.8450 +num rollout transitions: 249426, reward mean: 2.8256 +num rollout transitions: 249203, reward mean: 2.8016 +---------------------------------------------------------------------------------- +| alpha | 0.0261 | +| eval/episode_length | 34.1 | +| eval/episode_length_std | 2.27 | +| eval/normalized_episode_reward | 2.08 | +| eval/normalized_episode_reward_std | 0.762 | +| loss/actor | -262 | +| loss/alpha | 0.0356 | +| loss/critic | 4.2 | +| penalty/lcb_mean | 0.193 | +| penalty/lcb_std | 0.362 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249284, reward mean: 2.8468 +num rollout transitions: 249307, reward mean: 2.8533 +num rollout transitions: 249365, reward mean: 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mean: 2.8523 +num rollout transitions: 249331, reward mean: 2.8578 +num rollout transitions: 249372, reward mean: 2.8586 +num rollout transitions: 249381, reward mean: 2.8058 +num rollout transitions: 249257, reward mean: 2.8098 +num rollout transitions: 249324, reward mean: 2.8532 +num rollout transitions: 249344, reward mean: 2.8539 +num rollout transitions: 249356, reward mean: 2.8692 +num rollout transitions: 249356, reward mean: 2.8066 +num rollout transitions: 249251, reward mean: 2.8455 +num rollout transitions: 249294, reward mean: 2.8379 +---------------------------------------------------------------------------------- +| alpha | 0.0284 | +| eval/episode_length | 103 | +| eval/episode_length_std | 1.63 | +| eval/normalized_episode_reward | 8.81 | +| eval/normalized_episode_reward_std | 0.808 | +| loss/actor | -262 | +| loss/alpha | 0.0218 | +| loss/critic | 6.92 | +| penalty/lcb_mean | 0.196 | +| penalty/lcb_std | 0.371 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249328, reward mean: 2.8420 +num rollout transitions: 249331, reward mean: 2.8403 +num rollout transitions: 249326, reward mean: 2.8259 +num rollout transitions: 249362, reward mean: 2.8513 +num rollout transitions: 249340, reward mean: 2.8629 +num rollout transitions: 249314, reward mean: 2.8119 +num rollout transitions: 249327, reward mean: 2.8181 +num rollout transitions: 249356, reward mean: 2.8209 +num rollout transitions: 249325, reward mean: 2.8353 +num rollout transitions: 249325, reward mean: 2.8485 +num rollout transitions: 249312, reward mean: 2.8269 +num rollout transitions: 249295, reward mean: 2.8439 +num rollout transitions: 249381, reward mean: 2.8468 +num rollout transitions: 249378, reward mean: 2.8393 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.026 | +| eval/episode_length | 103 | +| eval/episode_length_std | 11.9 | +| eval/normalized_episode_reward | 8.89 | +| eval/normalized_episode_reward_std | 2.28 | +| loss/actor | -262 | +| loss/alpha | -0.0034 | +| loss/critic | 3.57 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.376 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249385, reward mean: 2.8294 +num rollout transitions: 249354, reward mean: 2.8358 +num rollout transitions: 249278, reward mean: 2.8033 +num rollout transitions: 249312, reward mean: 2.8381 +num rollout transitions: 249253, reward mean: 2.8223 +num rollout transitions: 249338, reward mean: 2.8520 +num 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eval/normalized_episode_reward | 8.74 | +| eval/normalized_episode_reward_std | 0.751 | +| loss/actor | -264 | +| loss/alpha | 0.108 | +| loss/critic | 7.3 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.399 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249359, reward mean: 2.8480 +num rollout transitions: 249347, reward mean: 2.8416 +num rollout transitions: 249346, reward mean: 2.8377 +num rollout transitions: 249362, reward mean: 2.8398 +num rollout transitions: 249281, reward mean: 2.8453 +num rollout transitions: 249371, reward mean: 2.8600 +num rollout transitions: 249261, reward mean: 2.8311 +num rollout transitions: 249225, reward mean: 2.8443 +num rollout transitions: 249205, reward mean: 2.8426 +num rollout 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transitions: 249375, reward mean: 2.8372 +num rollout transitions: 249342, reward mean: 2.8430 +num rollout transitions: 249289, reward mean: 2.8306 +num rollout transitions: 249274, reward mean: 2.8150 +---------------------------------------------------------------------------------- +| alpha | 0.0241 | +| eval/episode_length | 226 | +| eval/episode_length_std | 117 | +| eval/normalized_episode_reward | 21.6 | +| eval/normalized_episode_reward_std | 13.9 | +| loss/actor | -263 | +| loss/alpha | -0.00561 | +| loss/critic | 3.95 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.382 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249313, reward mean: 2.8233 +num rollout transitions: 249247, reward mean: 2.8305 +num rollout 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transitions: 249287, reward mean: 2.8369 +num rollout transitions: 249319, reward mean: 2.8293 +num rollout transitions: 249282, reward mean: 2.8429 +num rollout transitions: 249299, reward mean: 2.8320 +num rollout transitions: 249324, reward mean: 2.8432 +num rollout transitions: 249303, reward mean: 2.8288 +num rollout transitions: 249325, reward mean: 2.8242 +num rollout transitions: 249348, reward mean: 2.8357 +num rollout transitions: 249332, reward mean: 2.8256 +num rollout transitions: 249339, reward mean: 2.8477 +num rollout transitions: 249367, reward mean: 2.8425 +---------------------------------------------------------------------------------- +| alpha | 0.0231 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 1.14 | +| loss/actor | -263 | +| loss/alpha | 0.0217 | +| loss/critic | 3.41 | +| penalty/lcb_mean | 0.193 | +| penalty/lcb_std | 0.386 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249323, reward mean: 2.8419 +num rollout transitions: 249270, reward mean: 2.8367 +num rollout transitions: 249285, reward mean: 2.8151 +num rollout transitions: 249333, reward mean: 2.8323 +num rollout transitions: 249311, reward mean: 2.8231 +num rollout transitions: 249287, reward mean: 2.8417 +num rollout transitions: 249227, reward mean: 2.8441 +num rollout transitions: 249264, reward mean: 2.8214 +num rollout transitions: 249320, reward mean: 2.8369 +num rollout transitions: 249354, reward mean: 2.8373 +num rollout transitions: 249342, reward mean: 2.8018 +num rollout transitions: 249261, reward mean: 2.8438 +num rollout transitions: 249324, reward mean: 2.8546 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0222 | +| eval/episode_length | 859 | +| eval/episode_length_std | 229 | +| eval/normalized_episode_reward | 96.9 | +| eval/normalized_episode_reward_std | 27 | +| loss/actor | -264 | +| loss/alpha | -0.0281 | +| loss/critic | 2.99 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.392 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249340, reward mean: 2.8303 +num rollout transitions: 249327, reward mean: 2.8353 +num rollout transitions: 249252, reward mean: 2.8112 +num rollout transitions: 249269, reward mean: 2.8383 +num rollout transitions: 249358, reward mean: 2.8296 +num rollout transitions: 249360, reward mean: 2.8283 +num 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transitions: 249376, reward mean: 2.8499 +num rollout transitions: 249301, reward mean: 2.8196 +num rollout transitions: 249331, reward mean: 2.8416 +num rollout transitions: 249283, reward mean: 2.8337 +num rollout transitions: 249165, reward mean: 2.7858 +num rollout transitions: 249312, reward mean: 2.8344 +num rollout transitions: 249311, reward mean: 2.8063 +num rollout transitions: 249331, reward mean: 2.8555 +num rollout transitions: 249327, reward mean: 2.8597 +num rollout transitions: 249377, reward mean: 2.8566 +num rollout transitions: 249374, reward mean: 2.8368 +num rollout transitions: 249378, reward mean: 2.8288 +num rollout transitions: 249304, reward mean: 2.8391 +num rollout transitions: 249255, reward mean: 2.8566 +num rollout transitions: 249313, reward mean: 2.8426 +---------------------------------------------------------------------------------- +| alpha | 0.0216 | +| eval/episode_length | 711 | +| eval/episode_length_std | 233 | +| eval/normalized_episode_reward | 83 | +| eval/normalized_episode_reward_std | 26.3 | +| loss/actor | -265 | +| loss/alpha | 0.0221 | +| loss/critic | 3.63 | +| penalty/lcb_mean | 0.195 | +| penalty/lcb_std | 0.395 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249315, reward mean: 2.8714 +num rollout transitions: 249292, reward mean: 2.8238 +num rollout transitions: 249330, reward mean: 2.8320 +num rollout transitions: 249345, reward mean: 2.8585 +num rollout transitions: 249387, reward mean: 2.8161 +num rollout transitions: 249276, reward mean: 2.8353 +num rollout transitions: 249370, reward mean: 2.8246 +num rollout transitions: 249237, reward mean: 2.8207 +num rollout transitions: 249206, reward mean: 2.8350 +num rollout transitions: 249356, reward mean: 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mean: 2.8386 +num rollout transitions: 249371, reward mean: 2.8634 +num rollout transitions: 249367, reward mean: 2.8546 +num rollout transitions: 249399, reward mean: 2.8487 +---------------------------------------------------------------------------------- +| alpha | 0.0209 | +| eval/episode_length | 972 | +| eval/episode_length_std | 108 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 12.6 | +| loss/actor | -265 | +| loss/alpha | -0.00148 | +| loss/critic | 2.74 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.392 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249292, reward mean: 2.8479 +num rollout transitions: 249454, reward mean: 2.8548 +num rollout transitions: 249262, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249275, reward mean: 2.8032 +num rollout transitions: 249344, reward mean: 2.8427 +num rollout transitions: 249324, reward mean: 2.8323 +num rollout transitions: 249333, reward mean: 2.8216 +num rollout transitions: 249293, reward mean: 2.8487 +num rollout transitions: 249329, reward mean: 2.8402 +num rollout transitions: 249342, reward mean: 2.8416 +num rollout transitions: 249320, reward mean: 2.8392 +num rollout transitions: 249311, reward mean: 2.8254 +num rollout transitions: 249367, reward mean: 2.8293 +num rollout transitions: 249337, reward mean: 2.8460 +num rollout transitions: 249338, reward mean: 2.8429 +num rollout transitions: 249336, reward mean: 2.8315 +num rollout transitions: 249208, reward mean: 2.8389 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0216 | +| eval/episode_length | 998 | +| eval/episode_length_std | 19.9 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 2.54 | +| loss/actor | -264 | +| loss/alpha | 0.0117 | +| loss/critic | 3.34 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.415 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249398, reward mean: 2.8383 +num rollout transitions: 249330, reward mean: 2.8364 +num rollout transitions: 249346, reward mean: 2.8268 +num rollout transitions: 249333, reward mean: 2.8569 +num rollout transitions: 249325, reward mean: 2.8261 +num rollout transitions: 249314, reward mean: 2.8387 +num 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| 112 | +| eval/normalized_episode_reward_std | 1.19 | +| loss/actor | -263 | +| loss/alpha | -0.00534 | +| loss/critic | 2.97 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.421 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249335, reward mean: 2.8321 +num rollout transitions: 249346, reward mean: 2.8413 +num rollout transitions: 249388, reward mean: 2.8279 +num rollout transitions: 249182, reward mean: 2.8203 +num rollout transitions: 249333, reward mean: 2.8230 +num rollout transitions: 249296, reward mean: 2.8574 +num rollout transitions: 249376, reward mean: 2.8245 +num rollout transitions: 249304, reward mean: 2.8287 +num rollout transitions: 249325, reward mean: 2.8513 +num rollout transitions: 249281, reward mean: 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mean: 2.8450 +num rollout transitions: 249358, reward mean: 2.8334 +num rollout transitions: 249339, reward mean: 2.8215 +num rollout transitions: 249384, reward mean: 2.8341 +---------------------------------------------------------------------------------- +| alpha | 0.0211 | +| eval/episode_length | 735 | +| eval/episode_length_std | 332 | +| eval/normalized_episode_reward | 81.8 | +| eval/normalized_episode_reward_std | 39.6 | +| loss/actor | -263 | +| loss/alpha | -0.0101 | +| loss/critic | 3.51 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.429 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249274, reward mean: 2.8017 +num rollout transitions: 249372, reward mean: 2.8260 +num rollout transitions: 249410, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249315, reward mean: 2.8370 +num rollout transitions: 249332, reward mean: 2.8207 +num rollout transitions: 249316, reward mean: 2.8332 +num rollout transitions: 249335, reward mean: 2.8227 +num rollout transitions: 249362, reward mean: 2.8268 +num rollout transitions: 249226, reward mean: 2.8113 +num rollout transitions: 249315, reward mean: 2.8432 +num rollout transitions: 249393, reward mean: 2.8420 +num rollout transitions: 249144, reward mean: 2.8511 +num rollout transitions: 249287, reward mean: 2.8519 +num rollout transitions: 249321, reward mean: 2.8087 +num rollout transitions: 249375, reward mean: 2.8469 +num rollout transitions: 249319, reward mean: 2.8527 +num rollout transitions: 249353, reward mean: 2.8269 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0218 | +| eval/episode_length | 193 | +| eval/episode_length_std | 1.35 | +| eval/normalized_episode_reward | 18.5 | +| eval/normalized_episode_reward_std | 0.782 | +| loss/actor | -263 | +| loss/alpha | 0.000979 | +| loss/critic | 4.15 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.434 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249338, reward mean: 2.8294 +num rollout transitions: 249222, reward mean: 2.8365 +num rollout transitions: 249349, reward mean: 2.8419 +num rollout transitions: 249370, reward mean: 2.8459 +num rollout transitions: 249227, reward mean: 2.8503 +num rollout transitions: 249287, reward mean: 2.8367 +num 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eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 10.2 | +| loss/actor | -264 | +| loss/alpha | 0.00917 | +| loss/critic | 3.03 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.434 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249252, reward mean: 2.8394 +num rollout transitions: 249378, reward mean: 2.8353 +num rollout transitions: 249262, reward mean: 2.8292 +num rollout transitions: 249408, reward mean: 2.8112 +num rollout transitions: 249373, reward mean: 2.8418 +num rollout transitions: 249325, reward mean: 2.8263 +num rollout transitions: 249314, reward mean: 2.8291 +num rollout transitions: 249364, reward mean: 2.8485 +num rollout transitions: 249325, reward mean: 2.8258 +num rollout 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rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249334, reward mean: 2.8388 +num rollout transitions: 249290, reward mean: 2.8399 +num rollout transitions: 249280, reward mean: 2.8381 +num rollout transitions: 249316, reward mean: 2.8412 +num rollout transitions: 249298, reward mean: 2.8346 +num rollout transitions: 249348, reward mean: 2.8436 +num rollout transitions: 249327, reward mean: 2.8352 +num rollout transitions: 249339, reward mean: 2.8345 +num rollout transitions: 249205, reward mean: 2.8305 +num rollout transitions: 249327, reward mean: 2.8304 +num rollout transitions: 249249, reward mean: 2.8384 +num rollout transitions: 249270, reward mean: 2.8382 +num rollout transitions: 249378, reward mean: 2.8334 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0209 | +| eval/episode_length | 996 | +| eval/episode_length_std | 30.8 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 4.22 | +| loss/actor | -264 | +| loss/alpha | -0.0134 | +| loss/critic | 3.03 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.432 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249326, reward mean: 2.8381 +num rollout transitions: 249338, reward mean: 2.8397 +num rollout transitions: 249344, reward mean: 2.8301 +num rollout transitions: 249328, reward mean: 2.8314 +num rollout transitions: 249337, reward mean: 2.8390 +num rollout transitions: 249311, reward mean: 2.8402 +num 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eval/normalized_episode_reward | 17.3 | +| eval/normalized_episode_reward_std | 20.4 | +| loss/actor | -264 | +| loss/alpha | -0.000957 | +| loss/critic | 2.81 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.434 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1850000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249286, reward mean: 2.8257 +num rollout transitions: 249325, reward mean: 2.8508 +num rollout transitions: 249317, reward mean: 2.8315 +num rollout transitions: 249363, reward mean: 2.8450 +num rollout transitions: 249309, reward mean: 2.8162 +num rollout transitions: 249416, reward mean: 2.8441 +num rollout transitions: 249276, reward mean: 2.8331 +num rollout transitions: 249387, reward mean: 2.8471 +num rollout transitions: 249345, reward mean: 2.8321 +num rollout 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transitions: 249364, reward mean: 2.8407 +num rollout transitions: 249235, reward mean: 2.8234 +num rollout transitions: 249309, reward mean: 2.8451 +num rollout transitions: 249267, reward mean: 2.8276 +---------------------------------------------------------------------------------- +| alpha | 0.0204 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 1 | +| loss/actor | -264 | +| loss/alpha | 0.0119 | +| loss/critic | 3.21 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.432 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249286, reward mean: 2.8343 +num rollout transitions: 249335, reward mean: 2.8380 +num rollout transitions: 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| +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 1950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249337, reward mean: 2.8415 +num rollout transitions: 249375, reward mean: 2.8287 +num rollout transitions: 249282, reward mean: 2.8373 +num rollout transitions: 249257, reward mean: 2.8519 +num rollout transitions: 249326, reward mean: 2.8285 +num rollout transitions: 249338, reward mean: 2.8284 +num rollout transitions: 249350, reward mean: 2.8264 +num rollout transitions: 249387, reward mean: 2.8481 +num rollout transitions: 249380, reward mean: 2.8196 +num rollout transitions: 249342, reward mean: 2.8404 +num rollout transitions: 249290, reward mean: 2.8348 +num rollout transitions: 249376, reward mean: 2.8186 +num rollout transitions: 249339, reward mean: 2.8376 +num rollout transitions: 249328, reward mean: 2.8284 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.0197 | +| eval/episode_length | 346 | +| eval/episode_length_std | 331 | +| eval/normalized_episode_reward | 36.4 | +| eval/normalized_episode_reward_std | 39.2 | +| loss/actor | -265 | +| loss/alpha | -0.019 | +| loss/critic | 2.86 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.424 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249419, reward mean: 2.8283 +num rollout transitions: 249328, reward mean: 2.8281 +num rollout transitions: 249332, reward mean: 2.8449 +num rollout transitions: 249275, reward mean: 2.8403 +num rollout transitions: 249375, reward mean: 2.8396 +num rollout transitions: 249301, reward mean: 2.8348 +num 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eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 5.32 | +| loss/actor | -265 | +| loss/alpha | -0.000895 | +| loss/critic | 2.51 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.417 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2100000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249337, reward mean: 2.8305 +num rollout transitions: 249417, reward mean: 2.8285 +num rollout transitions: 249330, reward mean: 2.8351 +num rollout transitions: 249293, reward mean: 2.8249 +num rollout transitions: 249326, reward mean: 2.8142 +num rollout transitions: 249334, reward mean: 2.8563 +num rollout transitions: 249321, reward mean: 2.8386 +num rollout transitions: 249341, reward mean: 2.8402 +num rollout transitions: 249258, reward mean: 2.8362 +num rollout 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transitions: 249377, reward mean: 2.8356 +num rollout transitions: 249300, reward mean: 2.8302 +num rollout transitions: 249240, reward mean: 2.8143 +num rollout transitions: 249297, reward mean: 2.8266 +---------------------------------------------------------------------------------- +| alpha | 0.0187 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.85 | +| loss/actor | -265 | +| loss/alpha | 0.00429 | +| loss/critic | 2.31 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.418 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249304, reward mean: 2.8437 +num rollout transitions: 249377, reward mean: 2.8313 +num rollout 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rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249274, reward mean: 2.8415 +num rollout transitions: 249309, reward mean: 2.8312 +num rollout transitions: 249366, reward mean: 2.8313 +num rollout transitions: 249312, reward mean: 2.8330 +num rollout transitions: 249306, reward mean: 2.8320 +num rollout transitions: 249261, reward mean: 2.8427 +num rollout transitions: 249315, reward mean: 2.8321 +num rollout transitions: 249300, reward mean: 2.8411 +num rollout transitions: 249364, reward mean: 2.8510 +num rollout transitions: 249339, reward mean: 2.8244 +num rollout transitions: 249312, reward mean: 2.8286 +num rollout transitions: 249327, reward mean: 2.8302 +num rollout transitions: 249364, reward mean: 2.8191 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0188 | +| eval/episode_length | 925 | +| eval/episode_length_std | 183 | +| eval/normalized_episode_reward | 105 | +| eval/normalized_episode_reward_std | 22.2 | +| loss/actor | -265 | +| loss/alpha | 0.00337 | +| loss/critic | 2.37 | +| penalty/lcb_mean | 0.199 | +| penalty/lcb_std | 0.409 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249332, reward mean: 2.8243 +num rollout transitions: 249321, reward mean: 2.8362 +num rollout transitions: 249423, reward mean: 2.8277 +num rollout transitions: 249292, reward mean: 2.8338 +num rollout transitions: 249253, reward mean: 2.8454 +num rollout transitions: 249373, reward mean: 2.8303 +num 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eval/normalized_episode_reward | 17 | +| eval/normalized_episode_reward_std | 0.924 | +| loss/actor | -264 | +| loss/alpha | -0.0146 | +| loss/critic | 2.32 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.411 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249234, reward mean: 2.8299 +num rollout transitions: 249302, reward mean: 2.8314 +num rollout transitions: 249321, reward mean: 2.8336 +num rollout transitions: 249284, reward mean: 2.8466 +num rollout transitions: 249299, reward mean: 2.8243 +num rollout transitions: 249326, reward mean: 2.8380 +num rollout transitions: 249294, reward mean: 2.8200 +num rollout transitions: 249285, reward mean: 2.8246 +num rollout transitions: 249338, reward mean: 2.8307 +num rollout 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rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249436, reward mean: 2.8396 +num rollout transitions: 249274, reward mean: 2.8206 +num rollout transitions: 249337, reward mean: 2.8194 +num rollout transitions: 249347, reward mean: 2.8251 +num rollout transitions: 249368, reward mean: 2.8285 +num rollout transitions: 249299, reward mean: 2.8438 +num rollout transitions: 249316, reward mean: 2.8357 +num rollout transitions: 249348, reward mean: 2.8321 +num rollout transitions: 249357, reward mean: 2.8395 +num rollout transitions: 249328, reward mean: 2.8173 +num rollout transitions: 249399, reward mean: 2.8327 +num rollout transitions: 249337, reward mean: 2.8402 +num rollout transitions: 249313, reward mean: 2.8327 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0175 | +| eval/episode_length | 202 | +| eval/episode_length_std | 1.18 | +| eval/normalized_episode_reward | 19.4 | +| eval/normalized_episode_reward_std | 0.759 | +| loss/actor | -264 | +| loss/alpha | 0.00333 | +| loss/critic | 2.19 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.419 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249358, reward mean: 2.8317 +num rollout transitions: 249303, reward mean: 2.8400 +num rollout transitions: 249395, reward mean: 2.8391 +num rollout transitions: 249283, reward mean: 2.8469 +num rollout transitions: 249361, reward mean: 2.8408 +num rollout transitions: 249350, reward mean: 2.8531 +num 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rollout transitions: 249362, reward mean: 2.8323 +num rollout transitions: 249305, reward mean: 2.8417 +num rollout transitions: 249330, reward mean: 2.8366 +num rollout transitions: 249332, reward mean: 2.8296 +num rollout transitions: 249290, reward mean: 2.8282 +num rollout transitions: 249268, reward mean: 2.8301 +num rollout transitions: 249404, reward mean: 2.8318 +---------------------------------------------------------------------------------- +| alpha | 0.0174 | +| eval/episode_length | 930 | +| eval/episode_length_std | 149 | +| eval/normalized_episode_reward | 105 | +| eval/normalized_episode_reward_std | 18 | +| loss/actor | -265 | +| loss/alpha | -0.0103 | +| loss/critic | 2.14 | +| penalty/lcb_mean | 0.199 | +| penalty/lcb_std | 0.416 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2550000 | 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transitions: 249327, reward mean: 2.8395 +num rollout transitions: 249292, reward mean: 2.8372 +num rollout transitions: 249381, reward mean: 2.8318 +num rollout transitions: 249353, reward mean: 2.8407 +num rollout transitions: 249255, reward mean: 2.8412 +num rollout transitions: 249298, reward mean: 2.8343 +num rollout transitions: 249317, reward mean: 2.8239 +num rollout transitions: 249344, reward mean: 2.8282 +num rollout transitions: 249312, reward mean: 2.8315 +num rollout transitions: 249333, reward mean: 2.8281 +num rollout transitions: 249240, reward mean: 2.8336 +num rollout transitions: 249339, reward mean: 2.8294 +num rollout transitions: 249337, reward mean: 2.8330 +num rollout transitions: 249270, reward mean: 2.8332 +num rollout transitions: 249348, reward mean: 2.8351 +---------------------------------------------------------------------------------- +| alpha | 0.0167 | +| eval/episode_length | 200 | +| eval/episode_length_std | 3.94 | +| eval/normalized_episode_reward | 19.4 | +| eval/normalized_episode_reward_std | 1.11 | +| loss/actor | -264 | +| loss/alpha | -0.0135 | +| loss/critic | 2.1 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.417 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249238, reward mean: 2.8350 +num rollout transitions: 249398, reward mean: 2.8249 +num rollout transitions: 249343, reward mean: 2.8483 +num rollout transitions: 249434, reward mean: 2.8355 +num rollout transitions: 249317, reward mean: 2.8353 +num rollout transitions: 249316, reward mean: 2.8336 +num rollout transitions: 249351, reward mean: 2.8248 +num rollout transitions: 249353, reward mean: 2.8302 +num rollout transitions: 249340, reward mean: 2.8310 +num rollout 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transitions: 249314, reward mean: 2.8412 +num rollout transitions: 249355, reward mean: 2.8349 +num rollout transitions: 249302, reward mean: 2.8331 +num rollout transitions: 249376, reward mean: 2.8378 +---------------------------------------------------------------------------------- +| alpha | 0.0169 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 114 | +| eval/normalized_episode_reward_std | 1.1 | +| loss/actor | -265 | +| loss/alpha | 0.0136 | +| loss/critic | 2.16 | +| penalty/lcb_mean | 0.199 | +| penalty/lcb_std | 0.42 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249300, reward mean: 2.8534 +num rollout transitions: 249278, reward mean: 2.8335 +num rollout transitions: 249319, reward mean: 2.8419 +num rollout transitions: 249200, reward mean: 2.8351 +num rollout transitions: 249334, reward mean: 2.8324 +num rollout transitions: 249337, reward mean: 2.8283 +num rollout transitions: 249335, reward mean: 2.8286 +num rollout transitions: 249341, reward mean: 2.8297 +num rollout transitions: 249350, reward mean: 2.8288 +num rollout transitions: 249299, reward mean: 2.8377 +num rollout transitions: 249326, reward mean: 2.8377 +num rollout transitions: 249365, reward mean: 2.8381 +num rollout transitions: 249353, reward mean: 2.8444 +num rollout transitions: 249292, reward mean: 2.8343 +num rollout transitions: 249357, reward mean: 2.8395 +num rollout transitions: 249404, reward mean: 2.8236 +num rollout transitions: 249308, reward mean: 2.8270 +num rollout transitions: 249402, reward mean: 2.8275 +num rollout transitions: 249284, reward mean: 2.8276 +num rollout transitions: 249288, reward mean: 2.8454 +num rollout transitions: 249302, reward 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transitions: 249332, reward mean: 2.8353 +num rollout transitions: 249281, reward mean: 2.8331 +num rollout transitions: 249389, reward mean: 2.8347 +num rollout transitions: 249356, reward mean: 2.8259 +num rollout transitions: 249401, reward mean: 2.8364 +num rollout transitions: 249264, reward mean: 2.8360 +num rollout transitions: 249316, reward mean: 2.8311 +num rollout transitions: 249317, reward mean: 2.8269 +num rollout transitions: 249296, reward mean: 2.8286 +num rollout transitions: 249311, reward mean: 2.8369 +num rollout transitions: 249391, reward mean: 2.8308 +---------------------------------------------------------------------------------- +| alpha | 0.0166 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.851 | +| loss/actor | -264 | +| loss/alpha | -0.00704 | +| loss/critic | 2.13 | +| penalty/lcb_mean | 0.197 | +| penalty/lcb_std | 0.413 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249309, reward mean: 2.8391 +num rollout transitions: 249431, reward mean: 2.8446 +num rollout transitions: 249445, reward mean: 2.8294 +num rollout transitions: 249278, reward mean: 2.8251 +num rollout transitions: 249328, reward mean: 2.8364 +num rollout transitions: 249307, reward mean: 2.8336 +num rollout transitions: 249325, reward mean: 2.8259 +num rollout transitions: 249368, reward mean: 2.8374 +num rollout transitions: 249281, reward mean: 2.8348 +num rollout transitions: 249293, reward mean: 2.8396 +num rollout transitions: 249331, reward mean: 2.8500 +num rollout transitions: 249341, reward mean: 2.8422 +num rollout transitions: 249329, reward mean: 2.8417 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0166 | +| eval/episode_length | 382 | +| eval/episode_length_std | 142 | +| eval/normalized_episode_reward | 41.2 | +| eval/normalized_episode_reward_std | 17.3 | +| loss/actor | -264 | +| loss/alpha | -0.00301 | +| loss/critic | 2.27 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.431 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249321, reward mean: 2.8248 +num rollout transitions: 249321, reward mean: 2.8306 +num rollout transitions: 249306, reward mean: 2.8413 +num rollout transitions: 249278, reward mean: 2.8430 +num rollout transitions: 249377, reward mean: 2.8521 +num rollout transitions: 249325, reward mean: 2.8341 +num 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transitions: 249426, reward mean: 2.8381 +num rollout transitions: 249307, reward mean: 2.8374 +num rollout transitions: 249353, reward mean: 2.8485 +num rollout transitions: 249308, reward mean: 2.8391 +num rollout transitions: 249234, reward mean: 2.8403 +num rollout transitions: 249366, reward mean: 2.8355 +num rollout transitions: 249248, reward mean: 2.8343 +num rollout transitions: 249300, reward mean: 2.8303 +num rollout transitions: 249303, reward mean: 2.8369 +num rollout transitions: 249331, reward mean: 2.8323 +num rollout transitions: 249218, reward mean: 2.8391 +num rollout transitions: 249396, reward mean: 2.8460 +num rollout transitions: 249320, reward mean: 2.8423 +num rollout transitions: 249283, reward mean: 2.8369 +num rollout transitions: 249334, reward mean: 2.8308 +---------------------------------------------------------------------------------- +| alpha | 0.0158 | +| eval/episode_length | 940 | +| eval/episode_length_std | 157 | +| eval/normalized_episode_reward | 108 | +| eval/normalized_episode_reward_std | 17.8 | +| loss/actor | -263 | +| loss/alpha | -0.00593 | +| loss/critic | 2.21 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.433 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249351, reward mean: 2.8326 +num rollout transitions: 249334, reward mean: 2.8418 +num rollout transitions: 249329, reward mean: 2.8346 +num rollout transitions: 249328, reward mean: 2.8366 +num rollout transitions: 249314, reward mean: 2.8371 +num rollout transitions: 249368, reward mean: 2.8321 +num rollout transitions: 249256, reward mean: 2.8309 +num rollout transitions: 249318, reward mean: 2.8380 +num rollout transitions: 249319, reward mean: 2.8350 +num rollout transitions: 249335, reward mean: 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eval/normalized_episode_reward | 4.86 | +| eval/normalized_episode_reward_std | 0.673 | +| loss/actor | -292 | +| loss/alpha | -0.00227 | +| loss/critic | 5.68 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.336 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.87 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249331, reward mean: 2.8832 +num rollout transitions: 249375, reward mean: 2.8791 +num rollout transitions: 249423, reward mean: 2.8831 +num rollout transitions: 249417, reward mean: 2.8544 +num rollout transitions: 249337, reward mean: 2.8939 +num rollout transitions: 249293, reward mean: 2.8670 +num rollout transitions: 249264, reward mean: 2.8992 +num rollout transitions: 249302, reward mean: 2.8757 +num rollout transitions: 249291, reward mean: 2.8766 +num rollout transitions: 249311, reward mean: 2.8541 +num rollout transitions: 249228, reward mean: 2.8697 +num rollout transitions: 249301, reward mean: 2.8728 +num rollout transitions: 249220, reward mean: 2.8655 +num rollout transitions: 249392, reward mean: 2.8741 +num rollout transitions: 249288, reward mean: 2.8746 +num rollout transitions: 249401, reward mean: 2.8933 +num rollout transitions: 249269, reward mean: 2.8742 +num rollout transitions: 249389, reward mean: 2.8783 +num rollout transitions: 249272, reward mean: 2.8840 +num rollout transitions: 249259, reward mean: 2.8847 +num rollout transitions: 249244, reward mean: 2.8828 +num rollout transitions: 249379, reward mean: 2.8824 +num rollout transitions: 249342, reward mean: 2.8606 +num rollout transitions: 249350, reward mean: 2.8532 +num rollout transitions: 249374, reward mean: 2.8769 +num rollout transitions: 249284, reward mean: 2.8553 +num rollout transitions: 249332, reward mean: 2.8755 +num rollout transitions: 249308, reward 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transitions: 249350, reward mean: 2.8840 +num rollout transitions: 249315, reward mean: 2.8620 +num rollout transitions: 249288, reward mean: 2.8980 +num rollout transitions: 249368, reward mean: 2.8671 +---------------------------------------------------------------------------------- +| alpha | 0.0347 | +| eval/episode_length | 18 | +| eval/episode_length_std | 0.52 | +| eval/normalized_episode_reward | 1.28 | +| eval/normalized_episode_reward_std | 0.651 | +| loss/actor | -283 | +| loss/alpha | -0.0239 | +| loss/critic | 5.45 | +| penalty/lcb_mean | 0.179 | +| penalty/lcb_std | 0.317 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.87 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249349, reward mean: 2.8640 +num rollout transitions: 249388, reward mean: 2.8865 +num rollout transitions: 249251, reward mean: 2.8583 +num rollout transitions: 249330, reward mean: 2.8799 +num rollout transitions: 249372, reward mean: 2.8600 +num rollout transitions: 249389, reward mean: 2.8899 +num rollout transitions: 249345, reward mean: 2.8716 +num rollout transitions: 249358, reward mean: 2.8699 +num rollout transitions: 249389, reward mean: 2.8840 +num rollout transitions: 249292, reward mean: 2.8611 +num rollout transitions: 249334, reward mean: 2.8658 +num rollout transitions: 249265, reward mean: 2.8302 +num rollout transitions: 249296, reward mean: 2.8301 +num rollout transitions: 249392, reward mean: 2.8818 +num rollout transitions: 249324, reward mean: 2.8372 +num rollout transitions: 249387, reward mean: 2.8976 +num rollout transitions: 249326, reward mean: 2.8956 +num rollout transitions: 249414, reward mean: 2.8722 +num rollout transitions: 249281, reward mean: 2.8692 +num rollout transitions: 249359, reward mean: 2.8616 +num rollout transitions: 249263, reward 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transitions: 249305, reward mean: 2.8567 +num rollout transitions: 249378, reward mean: 2.9242 +num rollout transitions: 249370, reward mean: 2.8978 +num rollout transitions: 249254, reward mean: 2.8636 +num rollout transitions: 249475, reward mean: 2.8735 +num rollout transitions: 249341, reward mean: 2.8547 +num rollout transitions: 249363, reward mean: 2.8773 +num rollout transitions: 249297, reward mean: 2.8676 +num rollout transitions: 249304, reward mean: 2.8656 +num rollout transitions: 249401, reward mean: 2.8512 +num rollout transitions: 249100, reward mean: 2.8395 +---------------------------------------------------------------------------------- +| alpha | 0.0309 | +| eval/episode_length | 29 | +| eval/episode_length_std | 0.574 | +| eval/normalized_episode_reward | 1.87 | +| eval/normalized_episode_reward_std | 0.655 | +| loss/actor | -281 | +| loss/alpha | 0.0442 | +| loss/critic | 5.55 | +| penalty/lcb_mean | 0.167 | +| penalty/lcb_std | 0.317 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.87 | +| timestep | 300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249132, reward mean: 2.9477 +num rollout transitions: 249309, reward mean: 2.8646 +num rollout transitions: 249358, reward mean: 2.8915 +num rollout transitions: 249389, reward mean: 2.9118 +num rollout transitions: 249260, reward mean: 2.9278 +num rollout transitions: 249357, reward mean: 2.9347 +num rollout transitions: 249315, reward mean: 2.9248 +num rollout transitions: 249292, reward mean: 2.9317 +num rollout transitions: 249389, reward mean: 2.9130 +num rollout transitions: 249325, reward mean: 2.8960 +num rollout transitions: 249227, reward mean: 2.8836 +num rollout transitions: 249409, reward mean: 2.8825 +num rollout transitions: 249305, reward mean: 2.8989 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0306 | +| eval/episode_length | 23.3 | +| eval/episode_length_std | 21.4 | +| eval/normalized_episode_reward | 1.65 | +| eval/normalized_episode_reward_std | 2.65 | +| loss/actor | -284 | +| loss/alpha | 0.127 | +| loss/critic | 11.4 | +| penalty/lcb_mean | 0.167 | +| penalty/lcb_std | 0.337 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.88 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249291, reward mean: 2.8784 +num rollout transitions: 249360, reward mean: 2.8843 +num rollout transitions: 249314, reward mean: 2.8662 +num rollout transitions: 249286, reward mean: 2.8860 +num rollout transitions: 249355, reward mean: 2.8417 +num rollout transitions: 249311, reward mean: 2.8616 +num 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reward mean: 2.8648 +num rollout transitions: 249338, reward mean: 2.8536 +num rollout transitions: 249284, reward mean: 2.8439 +num rollout transitions: 249335, reward mean: 2.8630 +num rollout transitions: 249421, reward mean: 2.8421 +num rollout transitions: 249305, reward mean: 2.8450 +num rollout transitions: 249312, reward mean: 2.8839 +num rollout transitions: 249285, reward mean: 2.8477 +num rollout transitions: 249238, reward mean: 2.8908 +num rollout transitions: 249342, reward mean: 2.8667 +num rollout transitions: 249319, reward mean: 2.8850 +num rollout transitions: 249322, reward mean: 2.8538 +num rollout transitions: 249439, reward mean: 2.8850 +num rollout transitions: 249283, reward mean: 2.8715 +num rollout transitions: 249333, reward mean: 2.8665 +num rollout transitions: 249383, reward mean: 2.8633 +num rollout transitions: 249236, reward mean: 2.8703 +num rollout transitions: 249337, reward mean: 2.8626 +num rollout transitions: 249284, reward mean: 2.8689 +num 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+---------------------------------------------------------------------------------- +num rollout transitions: 249351, reward mean: 2.8649 +num rollout transitions: 249304, reward mean: 2.8416 +num rollout transitions: 249408, reward mean: 2.8420 +num rollout transitions: 249353, reward mean: 2.8430 +num rollout transitions: 249332, reward mean: 2.8460 +num rollout transitions: 249352, reward mean: 2.8518 +num rollout transitions: 249308, reward mean: 2.8687 +num rollout transitions: 249377, reward mean: 2.8721 +num rollout transitions: 249167, reward mean: 2.8674 +num rollout transitions: 249292, reward mean: 2.8501 +num rollout transitions: 249242, reward mean: 2.8504 +num rollout transitions: 249302, reward mean: 2.8662 +num rollout transitions: 249291, reward mean: 2.8381 +num rollout transitions: 249294, reward mean: 2.8661 +num rollout transitions: 249328, reward mean: 2.8589 +num rollout transitions: 249340, reward mean: 2.8559 +num rollout transitions: 249283, reward mean: 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| 43.8 | +| eval/normalized_episode_reward_std | 26 | +| loss/actor | -274 | +| loss/alpha | -0.0146 | +| loss/critic | 3.64 | +| penalty/lcb_mean | 0.159 | +| penalty/lcb_std | 0.305 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.86 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249300, reward mean: 2.8445 +num rollout transitions: 249376, reward mean: 2.8499 +num rollout transitions: 249311, reward mean: 2.8749 +num rollout transitions: 249352, reward mean: 2.8538 +num rollout transitions: 249370, reward mean: 2.8469 +num rollout transitions: 249308, reward mean: 2.8336 +num rollout transitions: 249333, reward mean: 2.8715 +num rollout transitions: 249275, reward mean: 2.8550 +num rollout transitions: 249440, reward mean: 2.8555 +num rollout transitions: 249302, reward mean: 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mean: 2.8555 +num rollout transitions: 249261, reward mean: 2.8689 +num rollout transitions: 249371, reward mean: 2.8714 +num rollout transitions: 249365, reward mean: 2.8401 +---------------------------------------------------------------------------------- +| alpha | 0.0241 | +| eval/episode_length | 380 | +| eval/episode_length_std | 52.2 | +| eval/normalized_episode_reward | 38.4 | +| eval/normalized_episode_reward_std | 7.42 | +| loss/actor | -274 | +| loss/alpha | 0.0335 | +| loss/critic | 4.6 | +| penalty/lcb_mean | 0.158 | +| penalty/lcb_std | 0.302 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.85 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249316, reward mean: 2.8267 +num rollout transitions: 249322, reward mean: 2.8386 +num rollout transitions: 249343, reward mean: 2.8411 +num rollout transitions: 249308, reward mean: 2.8432 +num rollout transitions: 249345, reward mean: 2.8303 +num rollout transitions: 249383, reward mean: 2.8400 +num rollout transitions: 249388, reward mean: 2.8504 +num rollout transitions: 249380, reward mean: 2.8222 +num rollout transitions: 249329, reward mean: 2.8328 +num rollout transitions: 249373, reward mean: 2.8770 +num rollout transitions: 249383, reward mean: 2.8539 +num rollout transitions: 249272, reward mean: 2.8398 +num rollout transitions: 249290, reward mean: 2.8540 +num rollout transitions: 249395, reward mean: 2.8573 +num rollout transitions: 249344, reward mean: 2.8519 +num rollout transitions: 249389, reward mean: 2.8430 +num rollout transitions: 249340, reward mean: 2.8233 +num rollout transitions: 249304, reward mean: 2.8516 +num rollout transitions: 249403, reward mean: 2.8577 +num rollout transitions: 249379, reward mean: 2.8325 +num rollout transitions: 249369, reward mean: 2.8778 +num rollout transitions: 249335, reward mean: 2.8457 +num rollout transitions: 249346, reward mean: 2.8551 +num rollout transitions: 249294, reward mean: 2.8449 +num rollout transitions: 249311, reward mean: 2.8437 +num rollout transitions: 249276, reward mean: 2.8367 +num rollout transitions: 249276, reward mean: 2.8424 +num rollout transitions: 249301, reward mean: 2.8474 +num rollout transitions: 249338, reward mean: 2.8387 +num rollout transitions: 249331, reward mean: 2.8471 +num rollout transitions: 249242, reward mean: 2.8291 +num rollout transitions: 249310, reward mean: 2.8711 +num rollout transitions: 249214, reward mean: 2.8704 +num rollout transitions: 249369, reward mean: 2.8711 +num rollout transitions: 249361, reward mean: 2.8486 +num rollout transitions: 249411, reward mean: 2.8597 +num rollout transitions: 249279, reward mean: 2.8276 +num rollout transitions: 249336, reward mean: 2.8446 +num rollout transitions: 249341, reward mean: 2.8580 +num rollout transitions: 249248, reward mean: 2.8560 +num rollout transitions: 249285, reward mean: 2.8614 +num rollout transitions: 249365, reward mean: 2.8521 +num rollout transitions: 249384, reward mean: 2.8428 +num rollout transitions: 249347, reward mean: 2.8458 +num rollout transitions: 249354, reward mean: 2.8810 +num rollout transitions: 249291, reward mean: 2.8463 +num rollout transitions: 249260, reward mean: 2.8484 +num rollout transitions: 249235, reward mean: 2.8431 +num rollout transitions: 249283, reward mean: 2.8239 +num rollout transitions: 249354, reward mean: 2.8048 +---------------------------------------------------------------------------------- +| alpha | 0.0247 | +| eval/episode_length | 650 | +| eval/episode_length_std | 126 | +| eval/normalized_episode_reward | 71.3 | +| eval/normalized_episode_reward_std | 14.6 | +| loss/actor | -272 | +| loss/alpha | 0.0271 | +| loss/critic | 3.27 | +| penalty/lcb_mean | 0.162 | +| penalty/lcb_std | 0.31 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.85 | +| timestep | 550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249275, reward mean: 2.8715 +num rollout transitions: 249338, reward mean: 2.8514 +num rollout transitions: 249323, reward mean: 2.8535 +num rollout transitions: 249339, reward mean: 2.8574 +num rollout transitions: 249324, reward mean: 2.8385 +num rollout transitions: 249340, reward mean: 2.8569 +num rollout transitions: 249237, reward mean: 2.8714 +num rollout transitions: 249317, reward mean: 2.8375 +num rollout transitions: 249266, reward mean: 2.8360 +num rollout transitions: 249315, reward mean: 2.8287 +num rollout transitions: 249288, reward mean: 2.8401 +num rollout transitions: 249300, reward mean: 2.8479 +num rollout transitions: 249335, reward mean: 2.8784 +num rollout transitions: 249381, reward mean: 2.8451 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0259 | +| eval/episode_length | 34 | +| eval/episode_length_std | 1.19 | +| eval/normalized_episode_reward | 2.11 | +| eval/normalized_episode_reward_std | 0.697 | +| loss/actor | -270 | +| loss/alpha | -0.0196 | +| loss/critic | 3.2 | +| penalty/lcb_mean | 0.168 | +| penalty/lcb_std | 0.315 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.85 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249303, reward mean: 2.8346 +num rollout transitions: 249366, reward mean: 2.8499 +num rollout transitions: 249257, reward mean: 2.8390 +num rollout transitions: 249278, reward mean: 2.8501 +num rollout transitions: 249333, reward mean: 2.8532 +num rollout transitions: 249303, reward mean: 2.8542 +num 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transitions: 249286, reward mean: 2.8442 +num rollout transitions: 249321, reward mean: 2.8591 +num rollout transitions: 249360, reward mean: 2.8683 +num rollout transitions: 249509, reward mean: 2.8392 +num rollout transitions: 249356, reward mean: 2.8422 +num rollout transitions: 249394, reward mean: 2.8611 +num rollout transitions: 249301, reward mean: 2.8226 +num rollout transitions: 249308, reward mean: 2.8325 +num rollout transitions: 249279, reward mean: 2.8399 +num rollout transitions: 249303, reward mean: 2.8366 +num rollout transitions: 249346, reward mean: 2.8332 +num rollout transitions: 249333, reward mean: 2.8677 +num rollout transitions: 249276, reward mean: 2.8502 +num rollout transitions: 249334, reward mean: 2.8305 +num rollout transitions: 249318, reward mean: 2.8267 +---------------------------------------------------------------------------------- +| alpha | 0.0252 | +| eval/episode_length | 116 | +| eval/episode_length_std | 55.4 | +| eval/normalized_episode_reward | 9.77 | +| eval/normalized_episode_reward_std | 6.1 | +| loss/actor | -271 | +| loss/alpha | -0.0248 | +| loss/critic | 3.23 | +| penalty/lcb_mean | 0.171 | +| penalty/lcb_std | 0.342 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249293, reward mean: 2.8175 +num rollout transitions: 249319, reward mean: 2.8927 +num rollout transitions: 249280, reward mean: 2.8297 +num rollout transitions: 249353, reward mean: 2.8419 +num rollout transitions: 249253, reward mean: 2.8530 +num rollout transitions: 249329, reward mean: 2.8593 +num rollout transitions: 249352, reward mean: 2.8261 +num rollout transitions: 249380, reward mean: 2.8449 +num rollout transitions: 249301, reward mean: 2.8299 +num rollout 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transitions: 249359, reward mean: 2.8593 +num rollout transitions: 249327, reward mean: 2.8474 +num rollout transitions: 249314, reward mean: 2.8436 +num rollout transitions: 249364, reward mean: 2.8454 +---------------------------------------------------------------------------------- +| alpha | 0.024 | +| eval/episode_length | 441 | +| eval/episode_length_std | 164 | +| eval/normalized_episode_reward | 48.5 | +| eval/normalized_episode_reward_std | 19.3 | +| loss/actor | -271 | +| loss/alpha | 0.0157 | +| loss/critic | 3.6 | +| penalty/lcb_mean | 0.169 | +| penalty/lcb_std | 0.335 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249358, reward mean: 2.8405 +num rollout transitions: 249215, reward mean: 2.8338 +num rollout 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transitions: 249319, reward mean: 2.8579 +num rollout transitions: 249374, reward mean: 2.8419 +num rollout transitions: 249282, reward mean: 2.8693 +num rollout transitions: 249334, reward mean: 2.8487 +num rollout transitions: 249369, reward mean: 2.8414 +num rollout transitions: 249336, reward mean: 2.8421 +num rollout transitions: 249276, reward mean: 2.8479 +num rollout transitions: 249306, reward mean: 2.8547 +num rollout transitions: 249337, reward mean: 2.8413 +num rollout transitions: 249368, reward mean: 2.8591 +num rollout transitions: 249350, reward mean: 2.8599 +---------------------------------------------------------------------------------- +| alpha | 0.0234 | +| eval/episode_length | 132 | +| eval/episode_length_std | 1.12 | +| eval/normalized_episode_reward | 10.9 | +| eval/normalized_episode_reward_std | 0.731 | +| loss/actor | -271 | +| loss/alpha | 0.000306 | +| loss/critic | 3.15 | +| penalty/lcb_mean | 0.171 | +| penalty/lcb_std | 0.34 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249343, reward mean: 2.8380 +num rollout transitions: 249314, reward mean: 2.8413 +num rollout transitions: 249341, reward mean: 2.8463 +num rollout transitions: 249356, reward mean: 2.8394 +num rollout transitions: 249388, reward mean: 2.8372 +num rollout transitions: 249244, reward mean: 2.8447 +num rollout transitions: 249281, reward mean: 2.8477 +num rollout transitions: 249383, reward mean: 2.8375 +num rollout transitions: 249369, reward mean: 2.8243 +num rollout transitions: 249260, reward mean: 2.8753 +num rollout transitions: 249334, reward mean: 2.8377 +num rollout transitions: 249305, reward mean: 2.8353 +num rollout transitions: 249323, reward mean: 2.8580 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0233 | +| eval/episode_length | 31.5 | +| eval/episode_length_std | 1.54 | +| eval/normalized_episode_reward | 1.98 | +| eval/normalized_episode_reward_std | 0.712 | +| loss/actor | -271 | +| loss/alpha | -0.0047 | +| loss/critic | 3.34 | +| penalty/lcb_mean | 0.174 | +| penalty/lcb_std | 0.347 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249348, reward mean: 2.8449 +num rollout transitions: 249280, reward mean: 2.8450 +num rollout transitions: 249289, reward mean: 2.8263 +num rollout transitions: 249353, reward mean: 2.8473 +num rollout transitions: 249379, reward mean: 2.8242 +num rollout transitions: 249364, reward mean: 2.8400 +num 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| 112 | +| eval/normalized_episode_reward_std | 0.93 | +| loss/actor | -271 | +| loss/alpha | -0.00322 | +| loss/critic | 2.97 | +| penalty/lcb_mean | 0.173 | +| penalty/lcb_std | 0.34 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249303, reward mean: 2.8429 +num rollout transitions: 249297, reward mean: 2.8547 +num rollout transitions: 249282, reward mean: 2.8337 +num rollout transitions: 249388, reward mean: 2.8559 +num rollout transitions: 249339, reward mean: 2.8173 +num rollout transitions: 249308, reward mean: 2.8333 +num rollout transitions: 249311, reward mean: 2.8514 +num rollout transitions: 249353, reward mean: 2.8300 +num rollout transitions: 249384, reward mean: 2.8437 +num rollout transitions: 249341, reward mean: 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mean: 2.8491 +num rollout transitions: 249428, reward mean: 2.8492 +num rollout transitions: 249291, reward mean: 2.8381 +num rollout transitions: 249347, reward mean: 2.8579 +---------------------------------------------------------------------------------- +| alpha | 0.024 | +| eval/episode_length | 513 | +| eval/episode_length_std | 146 | +| eval/normalized_episode_reward | 57.7 | +| eval/normalized_episode_reward_std | 18 | +| loss/actor | -271 | +| loss/alpha | 0.028 | +| loss/critic | 4.12 | +| penalty/lcb_mean | 0.176 | +| penalty/lcb_std | 0.342 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249365, reward mean: 2.8347 +num rollout transitions: 249342, reward mean: 2.8287 +num rollout transitions: 249380, reward mean: 2.8340 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+---------------------------------------------------------------------------------- +| alpha | 0.0222 | +| eval/episode_length | 48.2 | +| eval/episode_length_std | 0.935 | +| eval/normalized_episode_reward | 3.02 | +| eval/normalized_episode_reward_std | 0.696 | +| loss/actor | -270 | +| loss/alpha | 5.36e-05 | +| loss/critic | 3.13 | +| penalty/lcb_mean | 0.176 | +| penalty/lcb_std | 0.339 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249252, reward mean: 2.8267 +num rollout transitions: 249317, reward mean: 2.8469 +num rollout transitions: 249343, reward mean: 2.8113 +num rollout transitions: 249263, reward mean: 2.8228 +num rollout transitions: 249364, reward mean: 2.8280 +num rollout transitions: 249382, reward mean: 2.8413 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eval/normalized_episode_reward | 3.77 | +| eval/normalized_episode_reward_std | 0.689 | +| loss/actor | -271 | +| loss/alpha | 0.0184 | +| loss/critic | 2.83 | +| penalty/lcb_mean | 0.17 | +| penalty/lcb_std | 0.334 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249271, reward mean: 2.8367 +num rollout transitions: 249369, reward mean: 2.8384 +num rollout transitions: 249361, reward mean: 2.8094 +num rollout transitions: 249394, reward mean: 2.8476 +num rollout transitions: 249321, reward mean: 2.8266 +num rollout transitions: 249287, reward mean: 2.8218 +num rollout transitions: 249361, reward mean: 2.8540 +num rollout transitions: 249329, reward mean: 2.8455 +num rollout transitions: 249314, reward mean: 2.8395 +num rollout 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transitions: 249369, reward mean: 2.8348 +num rollout transitions: 249319, reward mean: 2.8239 +num rollout transitions: 249344, reward mean: 2.8224 +num rollout transitions: 249375, reward mean: 2.8256 +---------------------------------------------------------------------------------- +| alpha | 0.0218 | +| eval/episode_length | 452 | +| eval/episode_length_std | 87 | +| eval/normalized_episode_reward | 52.7 | +| eval/normalized_episode_reward_std | 11.4 | +| loss/actor | -271 | +| loss/alpha | -0.0236 | +| loss/critic | 2.57 | +| penalty/lcb_mean | 0.171 | +| penalty/lcb_std | 0.332 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249200, reward mean: 2.8329 +num rollout transitions: 249360, reward mean: 2.8457 +num rollout 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transitions: 249248, reward mean: 2.8166 +num rollout transitions: 249325, reward mean: 2.8491 +num rollout transitions: 249282, reward mean: 2.8420 +num rollout transitions: 249394, reward mean: 2.8325 +num rollout transitions: 249358, reward mean: 2.8360 +num rollout transitions: 249253, reward mean: 2.8081 +num rollout transitions: 249323, reward mean: 2.8524 +num rollout transitions: 249239, reward mean: 2.8496 +num rollout transitions: 249291, reward mean: 2.8605 +num rollout transitions: 249314, reward mean: 2.8541 +num rollout transitions: 249429, reward mean: 2.8253 +---------------------------------------------------------------------------------- +| alpha | 0.0214 | +| eval/episode_length | 810 | +| eval/episode_length_std | 226 | +| eval/normalized_episode_reward | 93.3 | +| eval/normalized_episode_reward_std | 26.5 | +| loss/actor | -271 | +| loss/alpha | 0.0238 | +| loss/critic | 3.08 | +| penalty/lcb_mean | 0.172 | +| penalty/lcb_std | 0.334 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 1300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249325, reward mean: 2.8365 +num rollout transitions: 249372, reward mean: 2.8458 +num rollout transitions: 249293, reward mean: 2.8426 +num rollout transitions: 249347, reward mean: 2.8290 +num rollout transitions: 249312, reward mean: 2.8383 +num rollout transitions: 249280, reward mean: 2.8472 +num rollout transitions: 249365, reward mean: 2.8566 +num rollout transitions: 249217, reward mean: 2.8240 +num rollout transitions: 249273, reward mean: 2.8619 +num rollout transitions: 249298, reward mean: 2.8314 +num rollout transitions: 249293, reward mean: 2.8269 +num rollout transitions: 249312, reward mean: 2.8444 +num rollout transitions: 249370, reward mean: 2.8276 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0214 | +| eval/episode_length | 561 | +| eval/episode_length_std | 214 | +| eval/normalized_episode_reward | 62.3 | +| eval/normalized_episode_reward_std | 25.7 | +| loss/actor | -272 | +| loss/alpha | -0.0133 | +| loss/critic | 2.51 | +| penalty/lcb_mean | 0.173 | +| penalty/lcb_std | 0.34 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249433, reward mean: 2.8250 +num rollout transitions: 249385, reward mean: 2.8443 +num rollout transitions: 249333, reward mean: 2.8284 +num rollout transitions: 249249, reward mean: 2.8208 +num rollout transitions: 249381, reward mean: 2.8270 +num rollout transitions: 249408, reward mean: 2.8293 +num 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reward mean: 2.8577 +num rollout transitions: 249360, reward mean: 2.8314 +num rollout transitions: 249300, reward mean: 2.8202 +num rollout transitions: 249286, reward mean: 2.8240 +num rollout transitions: 249375, reward mean: 2.8304 +num rollout transitions: 249372, reward mean: 2.8342 +num rollout transitions: 249381, reward mean: 2.8418 +num rollout transitions: 249314, reward mean: 2.8729 +num rollout transitions: 249357, reward mean: 2.8503 +num rollout transitions: 249283, reward mean: 2.8366 +num rollout transitions: 249300, reward mean: 2.8511 +num rollout transitions: 249381, reward mean: 2.8456 +num rollout transitions: 249361, reward mean: 2.8256 +num rollout transitions: 249341, reward mean: 2.8402 +num rollout transitions: 249262, reward mean: 2.8248 +num rollout transitions: 249335, reward mean: 2.8496 +num rollout transitions: 249340, reward mean: 2.8376 +num rollout transitions: 249336, reward mean: 2.8555 +num rollout transitions: 249416, reward mean: 2.8687 +num 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eval/normalized_episode_reward | 54.8 | +| eval/normalized_episode_reward_std | 10.5 | +| loss/actor | -272 | +| loss/alpha | 0.00669 | +| loss/critic | 2.63 | +| penalty/lcb_mean | 0.175 | +| penalty/lcb_std | 0.352 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249281, reward mean: 2.8443 +num rollout transitions: 249325, reward mean: 2.8207 +num rollout transitions: 249307, reward mean: 2.8360 +num rollout transitions: 249351, reward mean: 2.8390 +num rollout transitions: 249315, reward mean: 2.8398 +num rollout transitions: 249246, reward mean: 2.8146 +num rollout transitions: 249383, reward mean: 2.8548 +num rollout transitions: 249367, reward mean: 2.8274 +num rollout transitions: 249269, reward mean: 2.8457 +num rollout 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transitions: 249273, reward mean: 2.8242 +num rollout transitions: 249346, reward mean: 2.8436 +num rollout transitions: 249367, reward mean: 2.8525 +num rollout transitions: 249358, reward mean: 2.8304 +---------------------------------------------------------------------------------- +| alpha | 0.0202 | +| eval/episode_length | 829 | +| eval/episode_length_std | 246 | +| eval/normalized_episode_reward | 94 | +| eval/normalized_episode_reward_std | 29.4 | +| loss/actor | -272 | +| loss/alpha | -0.0136 | +| loss/critic | 2.52 | +| penalty/lcb_mean | 0.176 | +| penalty/lcb_std | 0.349 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249267, reward mean: 2.8341 +num rollout transitions: 249313, reward mean: 2.8410 +num rollout 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transitions: 249366, reward mean: 2.8343 +num rollout transitions: 249251, reward mean: 2.8281 +num rollout transitions: 249329, reward mean: 2.8444 +num rollout transitions: 249244, reward mean: 2.8680 +num rollout transitions: 249360, reward mean: 2.8394 +num rollout transitions: 249345, reward mean: 2.8340 +num rollout transitions: 249270, reward mean: 2.8446 +num rollout transitions: 249295, reward mean: 2.8063 +num rollout transitions: 249421, reward mean: 2.8239 +num rollout transitions: 249399, reward mean: 2.8330 +num rollout transitions: 249428, reward mean: 2.8620 +---------------------------------------------------------------------------------- +| alpha | 0.0193 | +| eval/episode_length | 748 | +| eval/episode_length_std | 230 | +| eval/normalized_episode_reward | 87.4 | +| eval/normalized_episode_reward_std | 26.2 | +| loss/actor | -272 | +| loss/alpha | 0.00379 | +| loss/critic | 2.67 | +| penalty/lcb_mean | 0.17 | +| penalty/lcb_std | 0.332 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249379, reward mean: 2.8239 +num rollout transitions: 249343, reward mean: 2.8363 +num rollout transitions: 249372, reward mean: 2.8260 +num rollout transitions: 249281, reward mean: 2.8415 +num rollout transitions: 249314, reward mean: 2.8143 +num rollout transitions: 249356, reward mean: 2.8335 +num rollout transitions: 249440, reward mean: 2.8524 +num rollout transitions: 249298, reward mean: 2.8460 +num rollout transitions: 249277, reward mean: 2.8348 +num rollout transitions: 249306, reward mean: 2.8272 +num rollout transitions: 249391, reward mean: 2.8283 +num rollout transitions: 249314, reward mean: 2.8441 +num rollout transitions: 249314, reward mean: 2.8251 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0185 | +| eval/episode_length | 646 | +| eval/episode_length_std | 237 | +| eval/normalized_episode_reward | 71.9 | +| eval/normalized_episode_reward_std | 28.2 | +| loss/actor | -273 | +| loss/alpha | -0.00722 | +| loss/critic | 1.9 | +| penalty/lcb_mean | 0.171 | +| penalty/lcb_std | 0.333 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249314, reward mean: 2.8277 +num rollout transitions: 249336, reward mean: 2.8826 +num rollout transitions: 249352, reward mean: 2.8573 +num rollout transitions: 249274, reward mean: 2.8265 +num rollout transitions: 249317, reward mean: 2.8311 +num rollout transitions: 249268, reward mean: 2.8363 +num 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transitions: 249328, reward mean: 2.8479 +num rollout transitions: 249303, reward mean: 2.8180 +num rollout transitions: 249326, reward mean: 2.8323 +num rollout transitions: 249330, reward mean: 2.8402 +num rollout transitions: 249423, reward mean: 2.8211 +num rollout transitions: 249379, reward mean: 2.8574 +num rollout transitions: 249272, reward mean: 2.8388 +num rollout transitions: 249376, reward mean: 2.8484 +num rollout transitions: 249363, reward mean: 2.8281 +num rollout transitions: 249349, reward mean: 2.8337 +num rollout transitions: 249308, reward mean: 2.8299 +num rollout transitions: 249363, reward mean: 2.8383 +num rollout transitions: 249296, reward mean: 2.8269 +num rollout transitions: 249293, reward mean: 2.8440 +num rollout transitions: 249423, reward mean: 2.8331 +---------------------------------------------------------------------------------- +| alpha | 0.0183 | +| eval/episode_length | 800 | +| eval/episode_length_std | 289 | +| eval/normalized_episode_reward | 90.1 | +| eval/normalized_episode_reward_std | 34 | +| loss/actor | -273 | +| loss/alpha | 0.025 | +| loss/critic | 2.23 | +| penalty/lcb_mean | 0.172 | +| penalty/lcb_std | 0.334 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249403, reward mean: 2.8526 +num rollout transitions: 249288, reward mean: 2.8502 +num rollout transitions: 249344, reward mean: 2.8395 +num rollout transitions: 249347, reward mean: 2.8474 +num rollout transitions: 249348, reward mean: 2.8453 +num rollout transitions: 249362, reward mean: 2.8155 +num rollout transitions: 249256, reward mean: 2.8190 +num rollout transitions: 249278, reward mean: 2.8299 +num rollout transitions: 249299, reward mean: 2.8390 +num rollout transitions: 249380, reward mean: 2.8429 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249325, reward mean: 2.8428 +num rollout transitions: 249349, reward mean: 2.8466 +num rollout transitions: 249355, reward mean: 2.8456 +num rollout transitions: 249351, reward mean: 2.8175 +num rollout transitions: 249264, reward mean: 2.8332 +num rollout transitions: 249336, reward mean: 2.8158 +num rollout transitions: 249292, reward mean: 2.8324 +num rollout transitions: 249337, reward mean: 2.8427 +num rollout transitions: 249301, reward mean: 2.8353 +num rollout transitions: 249301, reward mean: 2.8190 +num rollout transitions: 249377, reward mean: 2.8115 +num rollout transitions: 249351, reward mean: 2.8508 +num rollout transitions: 249351, reward mean: 2.8242 +num rollout transitions: 249352, reward mean: 2.8824 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0175 | +| eval/episode_length | 864 | +| eval/episode_length_std | 160 | +| eval/normalized_episode_reward | 99.6 | +| eval/normalized_episode_reward_std | 18.7 | +| loss/actor | -273 | +| loss/alpha | -0.0021 | +| loss/critic | 2.21 | +| penalty/lcb_mean | 0.173 | +| penalty/lcb_std | 0.343 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249341, reward mean: 2.8367 +num rollout transitions: 249313, reward mean: 2.8254 +num rollout transitions: 249329, reward mean: 2.8549 +num rollout transitions: 249338, reward mean: 2.8183 +num rollout transitions: 249444, reward mean: 2.8375 +num rollout transitions: 249339, reward mean: 2.8324 +num 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transitions: 249379, reward mean: 2.8479 +num rollout transitions: 249263, reward mean: 2.8247 +num rollout transitions: 249333, reward mean: 2.8472 +num rollout transitions: 249373, reward mean: 2.8455 +num rollout transitions: 249263, reward mean: 2.8319 +num rollout transitions: 249330, reward mean: 2.8218 +num rollout transitions: 249247, reward mean: 2.8216 +num rollout transitions: 249301, reward mean: 2.8439 +num rollout transitions: 249342, reward mean: 2.8316 +num rollout transitions: 249377, reward mean: 2.8447 +num rollout transitions: 249280, reward mean: 2.8282 +num rollout transitions: 249323, reward mean: 2.8388 +num rollout transitions: 249321, reward mean: 2.8447 +num rollout transitions: 249365, reward mean: 2.8361 +num rollout transitions: 249397, reward mean: 2.8455 +---------------------------------------------------------------------------------- +| alpha | 0.0174 | +| eval/episode_length | 988 | +| eval/episode_length_std | 71.4 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 8.64 | +| loss/actor | -273 | +| loss/alpha | -0.012 | +| loss/critic | 2.23 | +| penalty/lcb_mean | 0.171 | +| penalty/lcb_std | 0.34 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249211, reward mean: 2.8233 +num rollout transitions: 249307, reward mean: 2.8389 +num rollout transitions: 249284, reward mean: 2.8460 +num rollout transitions: 249316, reward mean: 2.8112 +num rollout transitions: 249294, reward mean: 2.8452 +num rollout transitions: 249384, reward mean: 2.8238 +num rollout transitions: 249388, reward mean: 2.8265 +num rollout transitions: 249315, reward mean: 2.8374 +num rollout transitions: 249304, reward mean: 2.8408 +num rollout 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transitions: 249213, reward mean: 2.8506 +num rollout transitions: 249291, reward mean: 2.8303 +num rollout transitions: 249329, reward mean: 2.8219 +num rollout transitions: 249258, reward mean: 2.8407 +---------------------------------------------------------------------------------- +| alpha | 0.0185 | +| eval/episode_length | 994 | +| eval/episode_length_std | 31.5 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 3.78 | +| loss/actor | -273 | +| loss/alpha | 0.0334 | +| loss/critic | 3.5 | +| penalty/lcb_mean | 0.175 | +| penalty/lcb_std | 0.35 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249340, reward mean: 2.8434 +num rollout transitions: 249301, reward mean: 2.8422 +num rollout 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transitions: 249357, reward mean: 2.8358 +num rollout transitions: 249297, reward mean: 2.8352 +num rollout transitions: 249357, reward mean: 2.8333 +num rollout transitions: 249306, reward mean: 2.8250 +num rollout transitions: 249310, reward mean: 2.8501 +num rollout transitions: 249279, reward mean: 2.8223 +num rollout transitions: 249363, reward mean: 2.8249 +num rollout transitions: 249347, reward mean: 2.8328 +num rollout transitions: 249282, reward mean: 2.8361 +num rollout transitions: 249263, reward mean: 2.8289 +num rollout transitions: 249293, reward mean: 2.8234 +---------------------------------------------------------------------------------- +| alpha | 0.0172 | +| eval/episode_length | 376 | +| eval/episode_length_std | 233 | +| eval/normalized_episode_reward | 40.9 | +| eval/normalized_episode_reward_std | 28 | +| loss/actor | -273 | +| loss/alpha | -0.00994 | +| loss/critic | 2.11 | +| penalty/lcb_mean | 0.172 | +| penalty/lcb_std | 0.343 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249329, reward mean: 2.8339 +num rollout transitions: 249364, reward mean: 2.8512 +num rollout transitions: 249358, reward mean: 2.8409 +num rollout transitions: 249378, reward mean: 2.8307 +num rollout transitions: 249381, reward mean: 2.8440 +num rollout transitions: 249363, reward mean: 2.8398 +num rollout transitions: 249244, reward mean: 2.8360 +num rollout transitions: 249366, reward mean: 2.8347 +num rollout transitions: 249341, reward mean: 2.8398 +num rollout transitions: 249348, reward mean: 2.8434 +num rollout transitions: 249417, reward mean: 2.8291 +num rollout transitions: 249398, reward mean: 2.8474 +num rollout transitions: 249313, reward mean: 2.8101 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0169 | +| eval/episode_length | 148 | +| eval/episode_length_std | 50.9 | +| eval/normalized_episode_reward | 12.9 | +| eval/normalized_episode_reward_std | 6.81 | +| loss/actor | -274 | +| loss/alpha | 0.00108 | +| loss/critic | 1.96 | +| penalty/lcb_mean | 0.17 | +| penalty/lcb_std | 0.338 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249318, reward mean: 2.8405 +num rollout transitions: 249302, reward mean: 2.8412 +num rollout transitions: 249347, reward mean: 2.8516 +num rollout transitions: 249306, reward mean: 2.8283 +num rollout transitions: 249367, reward mean: 2.8238 +num rollout transitions: 249372, reward mean: 2.8359 +num 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transitions: 249320, reward mean: 2.8506 +num rollout transitions: 249353, reward mean: 2.8419 +num rollout transitions: 249271, reward mean: 2.8441 +num rollout transitions: 249279, reward mean: 2.8498 +num rollout transitions: 249438, reward mean: 2.8300 +num rollout transitions: 249277, reward mean: 2.8433 +num rollout transitions: 249291, reward mean: 2.8420 +num rollout transitions: 249357, reward mean: 2.8376 +num rollout transitions: 249317, reward mean: 2.8413 +num rollout transitions: 249301, reward mean: 2.8372 +num rollout transitions: 249289, reward mean: 2.8377 +num rollout transitions: 249311, reward mean: 2.8392 +num rollout transitions: 249309, reward mean: 2.8269 +num rollout transitions: 249420, reward mean: 2.8517 +num rollout transitions: 249283, reward mean: 2.8467 +---------------------------------------------------------------------------------- +| alpha | 0.0176 | +| eval/episode_length | 985 | +| eval/episode_length_std | 77 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 9.23 | +| loss/actor | -274 | +| loss/alpha | 0.00977 | +| loss/critic | 2.4 | +| penalty/lcb_mean | 0.172 | +| penalty/lcb_std | 0.341 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249258, reward mean: 2.8364 +num rollout transitions: 249307, reward mean: 2.8412 +num rollout transitions: 249363, reward mean: 2.8255 +num rollout transitions: 249390, reward mean: 2.8417 +num rollout transitions: 249241, reward mean: 2.8364 +num rollout transitions: 249301, reward mean: 2.8466 +num rollout transitions: 249238, reward mean: 2.8249 +num rollout transitions: 249360, reward mean: 2.8436 +num rollout transitions: 249359, reward mean: 2.8481 +num rollout transitions: 249292, reward mean: 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mean: 2.8296 +num rollout transitions: 249303, reward mean: 2.8513 +num rollout transitions: 249372, reward mean: 2.8380 +num rollout transitions: 249331, reward mean: 2.8339 +---------------------------------------------------------------------------------- +| alpha | 0.017 | +| eval/episode_length | 838 | +| eval/episode_length_std | 242 | +| eval/normalized_episode_reward | 95.7 | +| eval/normalized_episode_reward_std | 28 | +| loss/actor | -274 | +| loss/alpha | -0.00611 | +| loss/critic | 2.04 | +| penalty/lcb_mean | 0.169 | +| penalty/lcb_std | 0.338 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249314, reward mean: 2.8428 +num rollout transitions: 249362, reward mean: 2.8374 +num rollout transitions: 249360, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249352, reward mean: 2.8336 +num rollout transitions: 249264, reward mean: 2.8318 +num rollout transitions: 249368, reward mean: 2.8404 +num rollout transitions: 249329, reward mean: 2.8316 +num rollout transitions: 249351, reward mean: 2.8437 +num rollout transitions: 249253, reward mean: 2.8252 +num rollout transitions: 249408, reward mean: 2.8257 +num rollout transitions: 249390, reward mean: 2.8397 +num rollout transitions: 249289, reward mean: 2.8243 +num rollout transitions: 249327, reward mean: 2.8328 +num rollout transitions: 249391, reward mean: 2.8441 +num rollout transitions: 249327, reward mean: 2.8524 +num rollout transitions: 249299, reward mean: 2.8306 +num rollout transitions: 249367, reward mean: 2.8425 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0172 | +| eval/episode_length | 560 | +| eval/episode_length_std | 381 | +| eval/normalized_episode_reward | 63.2 | +| eval/normalized_episode_reward_std | 46.3 | +| loss/actor | -274 | +| loss/alpha | -0.00741 | +| loss/critic | 2.34 | +| penalty/lcb_mean | 0.172 | +| penalty/lcb_std | 0.345 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249353, reward mean: 2.8413 +num rollout transitions: 249331, reward mean: 2.8392 +num rollout transitions: 249360, reward mean: 2.8457 +num rollout transitions: 249293, reward mean: 2.8356 +num rollout transitions: 249345, reward mean: 2.8625 +num rollout transitions: 249335, reward mean: 2.8318 +num 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| 64.2 | +| eval/normalized_episode_reward_std | 35.3 | +| loss/actor | -273 | +| loss/alpha | -0.0156 | +| loss/critic | 2.09 | +| penalty/lcb_mean | 0.173 | +| penalty/lcb_std | 0.348 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249381, reward mean: 2.8148 +num rollout transitions: 249253, reward mean: 2.8267 +num rollout transitions: 249311, reward mean: 2.8415 +num rollout transitions: 249341, reward mean: 2.8352 +num rollout transitions: 249364, reward mean: 2.8372 +num rollout transitions: 249373, reward mean: 2.8314 +num rollout transitions: 249295, reward mean: 2.8471 +num rollout transitions: 249306, reward mean: 2.8318 +num rollout transitions: 249354, reward mean: 2.8409 +num rollout transitions: 249357, reward mean: 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mean: 2.8318 +num rollout transitions: 249293, reward mean: 2.8281 +num rollout transitions: 249325, reward mean: 2.8360 +num rollout transitions: 249296, reward mean: 2.8364 +---------------------------------------------------------------------------------- +| alpha | 0.0164 | +| eval/episode_length | 914 | +| eval/episode_length_std | 193 | +| eval/normalized_episode_reward | 104 | +| eval/normalized_episode_reward_std | 23.1 | +| loss/actor | -274 | +| loss/alpha | 0.011 | +| loss/critic | 2.01 | +| penalty/lcb_mean | 0.171 | +| penalty/lcb_std | 0.343 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249354, reward mean: 2.8392 +num rollout transitions: 249251, reward mean: 2.8416 +num rollout transitions: 249309, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249415, reward mean: 2.8510 +num rollout transitions: 249359, reward mean: 2.8545 +num rollout transitions: 249314, reward mean: 2.8300 +num rollout transitions: 249315, reward mean: 2.8365 +num rollout transitions: 249364, reward mean: 2.8281 +num rollout transitions: 249339, reward mean: 2.8325 +num rollout transitions: 249290, reward mean: 2.8276 +num rollout transitions: 249356, reward mean: 2.8389 +num rollout transitions: 249406, reward mean: 2.8362 +num rollout transitions: 249284, reward mean: 2.8395 +num rollout transitions: 249313, reward mean: 2.8294 +num rollout transitions: 249290, reward mean: 2.8437 +num rollout transitions: 249268, reward mean: 2.8442 +num rollout transitions: 249234, reward mean: 2.8444 +num rollout 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+----------------------------------------------------------------------------------- +| alpha | 0.016 | +| eval/episode_length | 902 | +| eval/episode_length_std | 211 | +| eval/normalized_episode_reward | 103 | +| eval/normalized_episode_reward_std | 24.7 | +| loss/actor | -274 | +| loss/alpha | -0.000693 | +| loss/critic | 1.97 | +| penalty/lcb_mean | 0.174 | +| penalty/lcb_std | 0.355 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2600000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249302, reward mean: 2.8436 +num rollout transitions: 249311, reward mean: 2.8438 +num rollout transitions: 249339, reward mean: 2.8374 +num rollout transitions: 249337, reward mean: 2.8296 +num rollout transitions: 249274, reward mean: 2.8314 +num rollout transitions: 249376, reward mean: 2.8518 +num 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transitions: 249239, reward mean: 2.8340 +num rollout transitions: 249256, reward mean: 2.8349 +num rollout transitions: 249329, reward mean: 2.8463 +num rollout transitions: 249255, reward mean: 2.8372 +num rollout transitions: 249342, reward mean: 2.8331 +num rollout transitions: 249283, reward mean: 2.8390 +num rollout transitions: 249304, reward mean: 2.8385 +num rollout transitions: 249309, reward mean: 2.8269 +num rollout transitions: 249289, reward mean: 2.8512 +num rollout transitions: 249313, reward mean: 2.8365 +num rollout transitions: 249336, reward mean: 2.8387 +num rollout transitions: 249381, reward mean: 2.8351 +num rollout transitions: 249260, reward mean: 2.8298 +num rollout transitions: 249335, reward mean: 2.8368 +num rollout transitions: 249323, reward mean: 2.8368 +---------------------------------------------------------------------------------- +| alpha | 0.0159 | +| eval/episode_length | 950 | +| eval/episode_length_std | 136 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 15.9 | +| loss/actor | -273 | +| loss/alpha | 0.00284 | +| loss/critic | 2.23 | +| penalty/lcb_mean | 0.175 | +| penalty/lcb_std | 0.362 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249274, reward mean: 2.8458 +num rollout transitions: 249315, reward mean: 2.8458 +num rollout transitions: 249368, reward mean: 2.8435 +num rollout transitions: 249224, reward mean: 2.8385 +num rollout transitions: 249359, reward mean: 2.8244 +num rollout transitions: 249278, reward mean: 2.8307 +num rollout transitions: 249317, reward mean: 2.8334 +num rollout transitions: 249417, reward mean: 2.8303 +num rollout transitions: 249316, reward mean: 2.8303 +num rollout transitions: 249296, reward mean: 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mean: 2.8495 +num rollout transitions: 249324, reward mean: 2.8357 +num rollout transitions: 249329, reward mean: 2.8414 +num rollout transitions: 249347, reward mean: 2.8239 +---------------------------------------------------------------------------------- +| alpha | 0.0167 | +| eval/episode_length | 451 | +| eval/episode_length_std | 412 | +| eval/normalized_episode_reward | 48.5 | +| eval/normalized_episode_reward_std | 49 | +| loss/actor | -272 | +| loss/alpha | -0.00652 | +| loss/critic | 2.39 | +| penalty/lcb_mean | 0.183 | +| penalty/lcb_std | 0.376 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249286, reward mean: 2.8405 +num rollout transitions: 249337, reward mean: 2.8338 +num rollout transitions: 249329, reward mean: 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mean: 2.8370 +num rollout transitions: 249383, reward mean: 2.8440 +num rollout transitions: 249225, reward mean: 2.8392 +num rollout transitions: 249264, reward mean: 2.8364 +num rollout transitions: 249344, reward mean: 2.8506 +num rollout transitions: 249273, reward mean: 2.8414 +num rollout transitions: 249272, reward mean: 2.8382 +num rollout transitions: 249296, reward mean: 2.8373 +num rollout transitions: 249334, reward mean: 2.8458 +num rollout transitions: 249371, reward mean: 2.8455 +num rollout transitions: 249307, reward mean: 2.8450 +---------------------------------------------------------------------------------- +| alpha | 0.0167 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.735 | +| loss/actor | -271 | +| loss/alpha | 0.0068 | +| loss/critic | 2.88 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.383 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249346, reward mean: 2.8345 +num rollout transitions: 249266, reward mean: 2.8426 +num rollout transitions: 249292, reward mean: 2.8379 +num rollout transitions: 249343, reward mean: 2.8464 +num rollout transitions: 249334, reward mean: 2.8385 +num rollout transitions: 249237, reward mean: 2.8442 +num rollout transitions: 249297, reward mean: 2.8427 +num rollout transitions: 249344, reward mean: 2.8430 +num rollout transitions: 249344, reward mean: 2.8402 +num rollout transitions: 249343, reward mean: 2.8381 +num rollout transitions: 249307, reward mean: 2.8409 +num rollout transitions: 249332, reward mean: 2.8340 +num rollout transitions: 249252, reward mean: 2.8428 +num rollout transitions: 249369, reward mean: 2.8348 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0172 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.784 | +| loss/actor | -269 | +| loss/alpha | 0.0284 | +| loss/critic | 2.94 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.385 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249405, reward mean: 2.8402 +num rollout transitions: 249376, reward mean: 2.8410 +num rollout transitions: 249273, reward mean: 2.8341 +num rollout transitions: 249286, reward mean: 2.8395 +num rollout transitions: 249338, reward mean: 2.8357 +num rollout transitions: 249307, reward mean: 2.8386 +num 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| 113 | +| eval/normalized_episode_reward_std | 0.784 | +| loss/actor | -268 | +| loss/alpha | 0.0167 | +| loss/critic | 2.79 | +| penalty/lcb_mean | 0.184 | +| penalty/lcb_std | 0.378 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249341, reward mean: 2.8355 +num rollout transitions: 249276, reward mean: 2.8376 +num rollout transitions: 249297, reward mean: 2.8307 +num rollout transitions: 249337, reward mean: 2.8329 +num rollout transitions: 249387, reward mean: 2.8367 +num rollout transitions: 249240, reward mean: 2.8396 +num rollout transitions: 249280, reward mean: 2.8325 +num rollout transitions: 249331, reward mean: 2.8344 +num rollout transitions: 249384, reward mean: 2.8350 +num rollout transitions: 249322, reward mean: 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mean: 2.8380 +num rollout transitions: 249296, reward mean: 2.8305 +num rollout transitions: 249363, reward mean: 2.8285 +num rollout transitions: 249318, reward mean: 2.8304 +---------------------------------------------------------------------------------- +| alpha | 0.0163 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.84 | +| loss/actor | -267 | +| loss/alpha | -0.0431 | +| loss/critic | 2.59 | +| penalty/lcb_mean | 0.189 | +| penalty/lcb_std | 0.387 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 3000000 | +---------------------------------------------------------------------------------- +total time: 68249.10s diff --git a/hopper_medium_expert_sparse/mobile_based/diffusion/seed_42×tamp_26-0317-001620/record/dynamics_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/diffusion/seed_42×tamp_26-0317-001620/record/dynamics_training_progress.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mobile_based/diffusion/seed_42×tamp_26-0317-001620/record/hyper_param.json b/hopper_medium_expert_sparse/mobile_based/diffusion/seed_42×tamp_26-0317-001620/record/hyper_param.json new file mode 100644 index 0000000000000000000000000000000000000000..38d5ce55160d6cc0db9b30dd784e0b13472d2d95 --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/diffusion/seed_42×tamp_26-0317-001620/record/hyper_param.json @@ -0,0 +1 @@ +{"config": "config_gormpo/hopper_medium_expert_7_diffusion.yaml", "algo_name": "mobile_gormpo", "task": "hopper-medium-expert-v2", "seed": 42, "device": "cuda:0", "dataset_path": "/public/d4rl/sparse_datasets/hopper_medium_expert_sparse_78.pkl", "dynamics_path": "log/hopper-medium-expert-v2/seed_42×tamp_26-0112-030627/model", "reward_penalty_coef": 0.5, "classifier_model_name": "/public/gormpo/models/hopper_medium_expert_sparse_3/diffusion/checkpoint.pt", "use_wandb": true, "wandb_project": "mobile-gormpo", "wandb_entity": null, "domain": "gym", "actor_lr": 0.0001, "critic_lr": 0.0003, "hidden_dims": [256, 256], "gamma": 0.99, "tau": 0.005, "alpha": 0.2, "auto_alpha": true, "target_entropy": -3.0, "alpha_lr": 0.0001, "deterministic_backup": true, "max_q_backup": false, "norm_reward": false, "num_q_ensemble": 2, "dynamics_lr": 0.001, "dynamics_max_epochs": null, "max_epochs_since_update": 5, "dynamics_hidden_dims": [200, 200, 200, 200], "dynamics_weight_decay": [2.5e-05, 5e-05, 7.5e-05, 7.5e-05, 0.0001], "n_ensemble": 7, "n_elites": 5, "rollout_freq": 1000, "rollout_batch_size": 50000, "rollout_length": 5, "penalty_coef": 1.5, "num_samples": 10, "model_retain_epochs": 5, "real_ratio": 0.05, "load_dynamics_path": null, "epoch": 3000, "step_per_epoch": 1000, "eval_episodes": 100, "batch_size": 256, "lr_scheduler": true, "density_model": "diffusion", "data_path": "/public/d4rl/sparse_datasets/hopper_medium_expert_sparse_78.pkl", "penalty_type": "tanh", "obs_shape": [11], "action_dim": 3.0, "max_action": 1.0, "classifier_type": "diffusion"} diff --git a/hopper_medium_expert_sparse/mobile_based/diffusion/seed_456×tamp_26-0318-182716/record/consoleout_backup.txt b/hopper_medium_expert_sparse/mobile_based/diffusion/seed_456×tamp_26-0318-182716/record/consoleout_backup.txt new file mode 100644 index 0000000000000000000000000000000000000000..3dd3eea2d99486d64c727986f4d84d087b93d3ea --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/diffusion/seed_456×tamp_26-0318-182716/record/consoleout_backup.txt @@ -0,0 +1,4021 @@ +num rollout transitions: 245430, reward mean: 2.7933 +num rollout transitions: 249045, reward mean: 2.8982 +num rollout transitions: 249285, reward mean: 2.9155 +num rollout transitions: 249364, 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rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.95 | +| timestep | 50000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249326, reward mean: 2.9273 +num rollout transitions: 249407, reward mean: 2.9273 +num rollout transitions: 249315, reward mean: 2.9174 +num rollout transitions: 249386, reward mean: 2.8968 +num rollout transitions: 249356, reward mean: 2.9285 +num rollout transitions: 249375, reward mean: 2.9023 +num rollout transitions: 249301, reward mean: 2.9187 +num rollout transitions: 249335, reward mean: 2.8937 +num rollout transitions: 249381, reward mean: 2.8827 +num rollout transitions: 249315, reward mean: 2.9088 +num rollout transitions: 249271, reward mean: 2.9154 +num rollout transitions: 249328, reward mean: 2.9145 +num rollout transitions: 249337, reward mean: 2.9337 +num rollout transitions: 249337, reward mean: 2.8958 +num rollout transitions: 249351, reward mean: 2.9019 +num 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reward mean: 2.8836 +num rollout transitions: 249309, reward mean: 2.8775 +num rollout transitions: 249301, reward mean: 2.8899 +num rollout transitions: 249311, reward mean: 2.8585 +num rollout transitions: 249319, reward mean: 2.8901 +num rollout transitions: 249263, reward mean: 2.8526 +num rollout transitions: 249399, reward mean: 2.8603 +num rollout transitions: 249262, reward mean: 2.8960 +num rollout transitions: 249449, reward mean: 2.9067 +num rollout transitions: 249286, reward mean: 2.8787 +num rollout transitions: 249412, reward mean: 2.8875 +num rollout transitions: 249354, reward mean: 2.8825 +num rollout transitions: 249343, reward mean: 2.8834 +num rollout transitions: 249268, reward mean: 2.9228 +num rollout transitions: 249257, reward mean: 2.8933 +num rollout transitions: 249337, reward mean: 2.8738 +num rollout transitions: 249357, reward mean: 2.9022 +---------------------------------------------------------------------------------- +| alpha | 0.0651 | +| eval/episode_length | 27 | +| eval/episode_length_std | 14.1 | +| eval/normalized_episode_reward | 1.79 | +| eval/normalized_episode_reward_std | 1.62 | +| loss/actor | -352 | +| loss/alpha | -0.0381 | +| loss/critic | 11.5 | +| penalty/lcb_mean | 0.281 | +| penalty/lcb_std | 0.506 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.9 | +| timestep | 100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249335, reward mean: 2.8833 +num rollout transitions: 249293, reward mean: 2.8935 +num rollout transitions: 249297, reward mean: 2.8832 +num rollout transitions: 249252, reward mean: 2.8538 +num rollout transitions: 249344, reward mean: 2.8637 +num rollout transitions: 249265, reward mean: 2.8710 +num rollout transitions: 249328, reward mean: 2.8713 +num rollout transitions: 249291, reward mean: 2.8930 +num rollout transitions: 249425, reward mean: 2.8759 +num rollout transitions: 249345, reward mean: 2.8820 +num rollout transitions: 249346, reward mean: 2.8912 +num rollout transitions: 249194, reward mean: 2.9020 +num rollout transitions: 249350, reward mean: 2.8902 +num rollout transitions: 249273, reward mean: 2.8728 +num rollout transitions: 249300, reward mean: 2.9083 +num rollout transitions: 249319, reward mean: 2.8817 +num rollout transitions: 249366, reward mean: 2.9059 +num rollout transitions: 249468, reward mean: 2.9024 +num rollout transitions: 249354, reward mean: 2.9015 +num rollout transitions: 249287, reward mean: 2.8998 +num rollout transitions: 249335, reward mean: 2.8565 +num rollout transitions: 249373, reward mean: 2.8840 +num rollout transitions: 249305, reward mean: 2.8720 +num rollout transitions: 249346, reward mean: 2.8783 +num rollout transitions: 249316, reward mean: 2.8875 +num rollout transitions: 249364, reward mean: 2.8516 +num rollout transitions: 249386, reward mean: 2.8928 +num rollout transitions: 249286, reward mean: 2.8901 +num rollout transitions: 249387, reward mean: 2.8754 +num rollout transitions: 249316, reward mean: 2.8804 +num rollout transitions: 249390, reward mean: 2.8876 +num rollout transitions: 249293, reward mean: 2.8810 +num rollout transitions: 249337, reward mean: 2.8900 +num rollout transitions: 249355, reward mean: 2.8860 +num rollout transitions: 249384, reward mean: 2.9112 +num rollout transitions: 249305, reward mean: 2.9045 +num rollout transitions: 249410, reward mean: 2.8740 +num rollout transitions: 249277, reward mean: 2.8754 +num rollout transitions: 249373, reward mean: 2.9058 +num rollout transitions: 249287, reward mean: 2.8985 +num rollout transitions: 249328, reward mean: 2.8837 +num rollout transitions: 249290, reward mean: 2.8644 +num rollout transitions: 249290, reward mean: 2.8882 +num rollout transitions: 249282, reward mean: 2.8856 +num rollout transitions: 249294, reward mean: 2.9119 +num rollout transitions: 249334, reward mean: 2.8507 +num rollout transitions: 249316, reward mean: 2.8945 +num rollout transitions: 249363, reward mean: 2.8996 +num rollout transitions: 249318, reward mean: 2.8853 +num rollout transitions: 249316, reward mean: 2.8992 +---------------------------------------------------------------------------------- +| alpha | 0.0491 | +| eval/episode_length | 60.5 | +| eval/episode_length_std | 0.753 | +| eval/normalized_episode_reward | 4.19 | +| eval/normalized_episode_reward_std | 0.675 | +| loss/actor | -301 | +| loss/alpha | -0.0332 | +| loss/critic | 7.06 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.349 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.89 | +| timestep | 150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249216, reward mean: 2.8904 +num rollout transitions: 249256, reward mean: 2.8848 +num rollout transitions: 249240, reward mean: 2.8762 +num rollout transitions: 249306, reward mean: 2.8784 +num rollout transitions: 249371, reward mean: 2.8733 +num rollout transitions: 249391, reward mean: 2.8792 +num rollout transitions: 249344, reward mean: 2.9020 +num rollout transitions: 249271, reward mean: 2.8605 +num rollout transitions: 249333, reward mean: 2.8690 +num rollout transitions: 249283, reward mean: 2.8705 +num rollout transitions: 249356, reward mean: 2.8784 +num rollout transitions: 249330, reward mean: 2.8773 +num rollout transitions: 249267, reward mean: 2.8916 +num rollout transitions: 249337, reward mean: 2.8907 +num rollout transitions: 249420, reward mean: 2.8838 +num rollout transitions: 249343, reward mean: 2.8829 +num rollout transitions: 249311, reward mean: 2.8775 +num rollout transitions: 249268, reward mean: 2.9069 +num rollout transitions: 249363, reward mean: 2.8727 +num rollout transitions: 249342, reward mean: 2.8795 +num rollout transitions: 249426, reward mean: 2.8885 +num rollout transitions: 249375, reward mean: 2.8643 +num rollout transitions: 249276, reward mean: 2.8694 +num rollout transitions: 249331, reward mean: 2.9103 +num rollout transitions: 249348, reward mean: 2.8808 +num rollout transitions: 249343, reward mean: 2.8683 +num rollout transitions: 249309, reward mean: 2.8874 +num rollout transitions: 249305, reward mean: 2.8687 +num rollout transitions: 249315, reward mean: 2.8790 +num rollout transitions: 249388, reward mean: 2.8861 +num rollout transitions: 249353, reward mean: 2.8617 +num rollout transitions: 249294, reward mean: 2.9067 +num rollout transitions: 249334, reward mean: 2.9280 +num rollout transitions: 249441, reward mean: 2.8965 +num rollout transitions: 249396, reward mean: 2.9165 +num rollout transitions: 249357, reward mean: 2.9182 +num rollout transitions: 249334, reward mean: 2.9062 +num rollout transitions: 249333, reward mean: 2.8803 +num rollout transitions: 249419, reward mean: 2.8708 +num rollout transitions: 249404, reward mean: 2.8859 +num rollout transitions: 249264, reward mean: 2.8897 +num rollout transitions: 249351, reward mean: 2.8801 +num rollout transitions: 249348, reward mean: 2.8476 +num rollout transitions: 249339, reward mean: 2.9027 +num rollout transitions: 249378, reward mean: 2.8953 +num rollout transitions: 249308, reward mean: 2.8805 +num rollout transitions: 249283, reward mean: 2.8924 +num rollout transitions: 249326, reward mean: 2.8763 +num rollout transitions: 249317, reward mean: 2.8873 +num rollout transitions: 249260, reward mean: 2.8850 +---------------------------------------------------------------------------------- +| alpha | 0.0394 | +| eval/episode_length | 58.7 | +| eval/episode_length_std | 0.61 | +| eval/normalized_episode_reward | 3.98 | +| eval/normalized_episode_reward_std | 0.665 | +| loss/actor | -292 | +| loss/alpha | -0.00901 | +| loss/critic | 4.94 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.318 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.88 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249280, reward mean: 2.8809 +num rollout transitions: 249322, reward mean: 2.8842 +num rollout transitions: 249357, reward mean: 2.8616 +num rollout transitions: 249292, reward mean: 2.8777 +num rollout transitions: 249367, reward mean: 2.8710 +num rollout transitions: 249258, reward mean: 2.8591 +num rollout transitions: 249361, reward mean: 2.8853 +num rollout transitions: 249372, reward mean: 2.8877 +num rollout transitions: 249312, reward mean: 2.8720 +num rollout transitions: 249284, reward mean: 2.8707 +num rollout transitions: 249344, reward mean: 2.8931 +num rollout transitions: 249315, reward mean: 2.8750 +num rollout transitions: 249343, 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reward mean: 2.8687 +---------------------------------------------------------------------------------- +| alpha | 0.0338 | +| eval/episode_length | 199 | +| eval/episode_length_std | 1.74 | +| eval/normalized_episode_reward | 19.3 | +| eval/normalized_episode_reward_std | 0.796 | +| loss/actor | -283 | +| loss/alpha | -0.0384 | +| loss/critic | 4.95 | +| penalty/lcb_mean | 0.177 | +| penalty/lcb_std | 0.296 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.86 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249409, reward mean: 2.9171 +num rollout transitions: 249363, reward mean: 2.8811 +num rollout transitions: 249417, reward mean: 2.8608 +num rollout transitions: 249293, reward mean: 2.8376 +num rollout transitions: 249241, reward mean: 2.8685 +num rollout transitions: 249322, reward 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transitions: 249294, reward mean: 2.8535 +num rollout transitions: 249368, reward mean: 2.8457 +num rollout transitions: 249309, reward mean: 2.8513 +num rollout transitions: 249329, reward mean: 2.8399 +num rollout transitions: 249303, reward mean: 2.8620 +num rollout transitions: 249397, reward mean: 2.8456 +num rollout transitions: 249281, reward mean: 2.8462 +num rollout transitions: 249310, reward mean: 2.8379 +num rollout transitions: 249344, reward mean: 2.8637 +num rollout transitions: 249258, reward mean: 2.8430 +num rollout transitions: 249323, reward mean: 2.8439 +num rollout transitions: 249356, reward mean: 2.8547 +num rollout transitions: 249219, reward mean: 2.8391 +num rollout transitions: 249373, reward mean: 2.8330 +num rollout transitions: 249294, reward mean: 2.8280 +num rollout transitions: 249311, reward mean: 2.8441 +num rollout transitions: 249296, reward mean: 2.7820 +num rollout transitions: 249306, reward mean: 2.8947 +num rollout transitions: 249259, reward 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+---------------------------------------------------------------------------------- +num rollout transitions: 249340, reward mean: 2.8195 +num rollout transitions: 249319, reward mean: 2.8460 +num rollout transitions: 249328, reward mean: 2.8461 +num rollout transitions: 249369, reward mean: 2.8469 +num rollout transitions: 249319, reward mean: 2.8509 +num rollout transitions: 249267, reward mean: 2.8421 +num rollout transitions: 249279, reward mean: 2.8383 +num rollout transitions: 249260, reward mean: 2.8521 +num rollout transitions: 249341, reward mean: 2.8403 +num rollout transitions: 249400, reward mean: 2.8540 +num rollout transitions: 249308, reward mean: 2.8419 +num rollout transitions: 249313, reward mean: 2.8440 +num rollout transitions: 249299, reward mean: 2.8448 +num rollout transitions: 249369, reward mean: 2.8516 +num rollout transitions: 249310, reward mean: 2.8587 +num rollout transitions: 249348, reward mean: 2.8239 +num rollout transitions: 249333, reward mean: 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transitions: 249269, reward mean: 2.8335 +num rollout transitions: 249267, reward mean: 2.8340 +num rollout transitions: 249320, reward mean: 2.8672 +num rollout transitions: 249380, reward mean: 2.8457 +num rollout transitions: 249344, reward mean: 2.8587 +num rollout transitions: 249370, reward mean: 2.8451 +num rollout transitions: 249333, reward mean: 2.8120 +num rollout transitions: 248916, reward mean: 2.8081 +num rollout transitions: 249332, reward mean: 2.8876 +num rollout transitions: 249370, reward mean: 2.8059 +num rollout transitions: 249315, reward mean: 2.8525 +num rollout transitions: 249353, reward mean: 2.8486 +num rollout transitions: 249302, reward mean: 2.8433 +num rollout transitions: 249437, reward mean: 2.8458 +num rollout transitions: 249315, reward mean: 2.8452 +---------------------------------------------------------------------------------- +| alpha | 0.0275 | +| eval/episode_length | 108 | +| eval/episode_length_std | 0.96 | +| eval/normalized_episode_reward | 8.19 | +| eval/normalized_episode_reward_std | 0.701 | +| loss/actor | -264 | +| loss/alpha | 0.0433 | +| loss/critic | 6.37 | +| penalty/lcb_mean | 0.169 | +| penalty/lcb_std | 0.289 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249302, reward mean: 2.8404 +num rollout transitions: 249245, reward mean: 2.8493 +num rollout transitions: 249314, reward mean: 2.8383 +num rollout transitions: 249321, reward mean: 2.8150 +num rollout transitions: 249371, reward mean: 2.8348 +num rollout transitions: 249383, reward mean: 2.8431 +num rollout transitions: 249323, reward mean: 2.8380 +num rollout transitions: 249257, reward mean: 2.8370 +num rollout transitions: 249336, reward mean: 2.8307 +num rollout 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transitions: 249349, reward mean: 2.8181 +num rollout transitions: 249231, reward mean: 2.8221 +num rollout transitions: 249379, reward mean: 2.8244 +num rollout transitions: 249207, reward mean: 2.8332 +---------------------------------------------------------------------------------- +| alpha | 0.0235 | +| eval/episode_length | 121 | +| eval/episode_length_std | 0.935 | +| eval/normalized_episode_reward | 9.84 | +| eval/normalized_episode_reward_std | 0.708 | +| loss/actor | -266 | +| loss/alpha | -0.0474 | +| loss/critic | 3.51 | +| penalty/lcb_mean | 0.166 | +| penalty/lcb_std | 0.297 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249263, reward mean: 2.8251 +num rollout transitions: 249307, reward mean: 2.8221 +num rollout 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transitions: 249303, reward mean: 2.8446 +num rollout transitions: 249335, reward mean: 2.8661 +num rollout transitions: 249356, reward mean: 2.8315 +num rollout transitions: 249335, reward mean: 2.8425 +num rollout transitions: 249336, reward mean: 2.8555 +num rollout transitions: 249254, reward mean: 2.8584 +num rollout transitions: 249265, reward mean: 2.8209 +num rollout transitions: 249196, reward mean: 2.8530 +num rollout transitions: 249376, reward mean: 2.8501 +num rollout transitions: 249288, reward mean: 2.8594 +num rollout transitions: 249277, reward mean: 2.8308 +---------------------------------------------------------------------------------- +| alpha | 0.0237 | +| eval/episode_length | 980 | +| eval/episode_length_std | 89.4 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 10.7 | +| loss/actor | -269 | +| loss/alpha | 0.0157 | +| loss/critic | 4.28 | +| penalty/lcb_mean | 0.165 | +| penalty/lcb_std | 0.306 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249215, reward mean: 2.8619 +num rollout transitions: 249348, reward mean: 2.8563 +num rollout transitions: 249334, reward mean: 2.8392 +num rollout transitions: 249276, reward mean: 2.8581 +num rollout transitions: 249363, reward mean: 2.8232 +num rollout transitions: 249273, reward mean: 2.8562 +num rollout transitions: 249299, reward mean: 2.8368 +num rollout transitions: 249316, reward mean: 2.8496 +num rollout transitions: 249398, reward mean: 2.8544 +num rollout transitions: 249391, reward mean: 2.8284 +num rollout transitions: 249263, reward mean: 2.8465 +num rollout transitions: 249382, reward mean: 2.8331 +num rollout transitions: 249262, reward mean: 2.8197 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0236 | +| eval/episode_length | 730 | +| eval/episode_length_std | 257 | +| eval/normalized_episode_reward | 80.3 | +| eval/normalized_episode_reward_std | 30.1 | +| loss/actor | -267 | +| loss/alpha | 0.00528 | +| loss/critic | 4.02 | +| penalty/lcb_mean | 0.168 | +| penalty/lcb_std | 0.318 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249250, reward mean: 2.8427 +num rollout transitions: 249342, reward mean: 2.8187 +num rollout transitions: 249371, reward mean: 2.8477 +num rollout transitions: 249382, reward mean: 2.8485 +num rollout transitions: 249359, reward mean: 2.8461 +num rollout transitions: 249315, reward mean: 2.8257 +num 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eval/normalized_episode_reward | 96 | +| eval/normalized_episode_reward_std | 26.1 | +| loss/actor | -268 | +| loss/alpha | -0.000382 | +| loss/critic | 4.23 | +| penalty/lcb_mean | 0.173 | +| penalty/lcb_std | 0.334 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 600000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249275, reward mean: 2.8528 +num rollout transitions: 249265, reward mean: 2.8453 +num rollout transitions: 249263, reward mean: 2.8639 +num rollout transitions: 249362, reward mean: 2.8186 +num rollout transitions: 249287, reward mean: 2.8196 +num rollout transitions: 249320, reward mean: 2.8176 +num rollout transitions: 249243, reward mean: 2.8528 +num rollout transitions: 249355, reward mean: 2.8589 +num rollout transitions: 249341, reward mean: 2.8649 +num rollout 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transitions: 249356, reward mean: 2.8485 +num rollout transitions: 249302, reward mean: 2.8476 +num rollout transitions: 249378, reward mean: 2.8349 +num rollout transitions: 249269, reward mean: 2.8411 +---------------------------------------------------------------------------------- +| alpha | 0.0239 | +| eval/episode_length | 552 | +| eval/episode_length_std | 202 | +| eval/normalized_episode_reward | 63.3 | +| eval/normalized_episode_reward_std | 23.4 | +| loss/actor | -268 | +| loss/alpha | 0.0495 | +| loss/critic | 5.7 | +| penalty/lcb_mean | 0.174 | +| penalty/lcb_std | 0.327 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.85 | +| timestep | 650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249287, reward mean: 2.8501 +num rollout transitions: 249322, reward mean: 2.8460 +num rollout 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transitions: 249246, reward mean: 2.8321 +num rollout transitions: 249322, reward mean: 2.8398 +num rollout transitions: 249399, reward mean: 2.8605 +num rollout transitions: 249289, reward mean: 2.8528 +num rollout transitions: 249266, reward mean: 2.8363 +num rollout transitions: 249365, reward mean: 2.8444 +num rollout transitions: 249363, reward mean: 2.8498 +num rollout transitions: 249285, reward mean: 2.8315 +num rollout transitions: 249321, reward mean: 2.8477 +num rollout transitions: 249351, reward mean: 2.8409 +num rollout transitions: 249319, reward mean: 2.8273 +---------------------------------------------------------------------------------- +| alpha | 0.0229 | +| eval/episode_length | 134 | +| eval/episode_length_std | 0.661 | +| eval/normalized_episode_reward | 10.5 | +| eval/normalized_episode_reward_std | 0.681 | +| loss/actor | -269 | +| loss/alpha | 0.00837 | +| loss/critic | 3.55 | +| penalty/lcb_mean | 0.178 | +| penalty/lcb_std | 0.347 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249269, reward mean: 2.8472 +num rollout transitions: 249398, reward mean: 2.8970 +num rollout transitions: 249265, reward mean: 2.8639 +num rollout transitions: 249333, reward mean: 2.8482 +num rollout transitions: 249325, reward mean: 2.8446 +num rollout transitions: 249292, reward mean: 2.8877 +num rollout transitions: 249352, reward mean: 2.8506 +num rollout transitions: 249296, reward mean: 2.8890 +num rollout transitions: 249289, reward mean: 2.8628 +num rollout transitions: 249339, reward mean: 2.8558 +num rollout transitions: 249359, reward mean: 2.8533 +num rollout transitions: 249287, reward mean: 2.8483 +num rollout transitions: 249301, reward mean: 2.8412 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0231 | +| eval/episode_length | 996 | +| eval/episode_length_std | 35.6 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 4.56 | +| loss/actor | -268 | +| loss/alpha | 0.00561 | +| loss/critic | 3.5 | +| penalty/lcb_mean | 0.18 | +| penalty/lcb_std | 0.345 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.85 | +| timestep | 750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249313, reward mean: 2.8580 +num rollout transitions: 249367, reward mean: 2.8738 +num rollout transitions: 249293, reward mean: 2.8428 +num rollout transitions: 249347, reward mean: 2.8428 +num rollout transitions: 249281, reward mean: 2.8565 +num rollout transitions: 249238, reward mean: 2.8240 +num 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transitions: 249290, reward mean: 2.8598 +num rollout transitions: 249287, reward mean: 2.8325 +num rollout transitions: 249280, reward mean: 2.8349 +num rollout transitions: 249396, reward mean: 2.8674 +num rollout transitions: 249251, reward mean: 2.8619 +num rollout transitions: 249345, reward mean: 2.8416 +num rollout transitions: 249316, reward mean: 2.8305 +num rollout transitions: 249354, reward mean: 2.8458 +num rollout transitions: 249320, reward mean: 2.8509 +num rollout transitions: 249251, reward mean: 2.8416 +num rollout transitions: 249366, reward mean: 2.8481 +num rollout transitions: 249336, reward mean: 2.8277 +num rollout transitions: 249332, reward mean: 2.8335 +num rollout transitions: 249280, reward mean: 2.8444 +num rollout transitions: 249347, reward mean: 2.8315 +---------------------------------------------------------------------------------- +| alpha | 0.0237 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.848 | +| loss/actor | -267 | +| loss/alpha | 0.00606 | +| loss/critic | 5.17 | +| penalty/lcb_mean | 0.184 | +| penalty/lcb_std | 0.355 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249354, reward mean: 2.8379 +num rollout transitions: 249318, reward mean: 2.8535 +num rollout transitions: 249341, reward mean: 2.8548 +num rollout transitions: 249291, reward mean: 2.8348 +num rollout transitions: 249314, reward mean: 2.8404 +num rollout transitions: 249371, reward mean: 2.8171 +num rollout transitions: 249390, reward mean: 2.8383 +num rollout transitions: 249350, reward mean: 2.8445 +num rollout transitions: 249382, reward mean: 2.8293 +num rollout transitions: 249311, reward mean: 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mean: 2.8152 +num rollout transitions: 249348, reward mean: 2.8440 +num rollout transitions: 249252, reward mean: 2.8541 +num rollout transitions: 249284, reward mean: 2.8456 +---------------------------------------------------------------------------------- +| alpha | 0.0229 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 1.02 | +| loss/actor | -267 | +| loss/alpha | 0.00599 | +| loss/critic | 3.41 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.367 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249284, reward mean: 2.8436 +num rollout transitions: 249282, reward mean: 2.8591 +num rollout transitions: 249290, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249353, reward mean: 2.8192 +num rollout transitions: 249331, reward mean: 2.8235 +num rollout transitions: 249305, reward mean: 2.8043 +num rollout transitions: 249340, reward mean: 2.8215 +num rollout transitions: 249393, reward mean: 2.8161 +num rollout transitions: 249379, reward mean: 2.8424 +num rollout transitions: 249296, reward mean: 2.8400 +num rollout transitions: 249325, reward mean: 2.8457 +num rollout transitions: 249374, reward mean: 2.8239 +num rollout transitions: 249363, reward mean: 2.8352 +num rollout transitions: 249328, reward mean: 2.8301 +num rollout transitions: 249367, reward mean: 2.8316 +num rollout transitions: 249357, reward mean: 2.8255 +num rollout transitions: 249301, reward mean: 2.8278 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0244 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.825 | +| loss/actor | -268 | +| loss/alpha | 0.00334 | +| loss/critic | 4.02 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.372 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249282, reward mean: 2.8169 +num rollout transitions: 249341, reward mean: 2.8673 +num rollout transitions: 249325, reward mean: 2.8497 +num rollout transitions: 249282, reward mean: 2.8352 +num rollout transitions: 249353, reward mean: 2.8071 +num rollout transitions: 249343, reward mean: 2.8283 +num 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transitions: 249326, reward mean: 2.8373 +num rollout transitions: 249300, reward mean: 2.8377 +num rollout transitions: 249316, reward mean: 2.8530 +num rollout transitions: 249426, reward mean: 2.8438 +num rollout transitions: 249291, reward mean: 2.8204 +num rollout transitions: 249275, reward mean: 2.8551 +num rollout transitions: 249234, reward mean: 2.8444 +num rollout transitions: 249297, reward mean: 2.8426 +num rollout transitions: 249269, reward mean: 2.8619 +num rollout transitions: 249362, reward mean: 2.8366 +num rollout transitions: 249319, reward mean: 2.8592 +num rollout transitions: 249331, reward mean: 2.8514 +num rollout transitions: 249280, reward mean: 2.8502 +num rollout transitions: 249349, reward mean: 2.8396 +num rollout transitions: 249323, reward mean: 2.8418 +---------------------------------------------------------------------------------- +| alpha | 0.0246 | +| eval/episode_length | 669 | +| eval/episode_length_std | 422 | +| eval/normalized_episode_reward | 74.5 | +| eval/normalized_episode_reward_std | 49.4 | +| loss/actor | -265 | +| loss/alpha | 0.00277 | +| loss/critic | 4.31 | +| penalty/lcb_mean | 0.183 | +| penalty/lcb_std | 0.36 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249334, reward mean: 2.8317 +num rollout transitions: 249335, reward mean: 2.8526 +num rollout transitions: 249308, reward mean: 2.8388 +num rollout transitions: 249335, reward mean: 2.8453 +num rollout transitions: 249281, reward mean: 2.8748 +num rollout transitions: 249377, reward mean: 2.8492 +num rollout transitions: 249336, reward mean: 2.8648 +num rollout transitions: 249366, reward mean: 2.8534 +num rollout transitions: 249285, reward mean: 2.8457 +num rollout transitions: 249332, reward mean: 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mean: 2.8414 +num rollout transitions: 249268, reward mean: 2.8368 +num rollout transitions: 249267, reward mean: 2.8361 +num rollout transitions: 249266, reward mean: 2.8413 +---------------------------------------------------------------------------------- +| alpha | 0.0222 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 114 | +| eval/normalized_episode_reward_std | 1.64 | +| loss/actor | -267 | +| loss/alpha | 0.00216 | +| loss/critic | 3.42 | +| penalty/lcb_mean | 0.176 | +| penalty/lcb_std | 0.346 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.85 | +| timestep | 1150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249340, reward mean: 2.8657 +num rollout transitions: 249325, reward mean: 2.8473 +num rollout transitions: 249298, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249363, reward mean: 2.8361 +num rollout transitions: 249365, reward mean: 2.8365 +num rollout transitions: 249326, reward mean: 2.8274 +num rollout transitions: 249301, reward mean: 2.8366 +num rollout transitions: 249356, reward mean: 2.8467 +num rollout transitions: 249286, reward mean: 2.8534 +num rollout transitions: 249236, reward mean: 2.8528 +num rollout transitions: 249339, reward mean: 2.8188 +num rollout transitions: 249367, reward mean: 2.8224 +num rollout transitions: 249434, reward mean: 2.8520 +num rollout transitions: 249314, reward mean: 2.8276 +num rollout transitions: 249242, reward mean: 2.8433 +num rollout transitions: 249341, reward mean: 2.8456 +num rollout transitions: 249358, reward mean: 2.8394 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0217 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.889 | +| loss/actor | -269 | +| loss/alpha | -0.00335 | +| loss/critic | 3.49 | +| penalty/lcb_mean | 0.173 | +| penalty/lcb_std | 0.343 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249303, reward mean: 2.8498 +num rollout transitions: 249331, reward mean: 2.8464 +num rollout transitions: 249353, reward mean: 2.8217 +num rollout transitions: 249245, reward mean: 2.8566 +num rollout transitions: 249317, reward mean: 2.8405 +num rollout transitions: 249224, reward mean: 2.8325 +num 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| 112 | +| eval/normalized_episode_reward_std | 0.795 | +| loss/actor | -269 | +| loss/alpha | 0.00445 | +| loss/critic | 2.95 | +| penalty/lcb_mean | 0.176 | +| penalty/lcb_std | 0.349 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249329, reward mean: 2.8441 +num rollout transitions: 249282, reward mean: 2.8507 +num rollout transitions: 249315, reward mean: 2.8543 +num rollout transitions: 249341, reward mean: 2.8353 +num rollout transitions: 249360, reward mean: 2.8574 +num rollout transitions: 249282, reward mean: 2.8264 +num rollout transitions: 249347, reward mean: 2.8358 +num rollout transitions: 249257, reward mean: 2.8438 +num rollout transitions: 249381, reward mean: 2.8307 +num rollout transitions: 249342, reward mean: 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mean: 2.8346 +num rollout transitions: 249272, reward mean: 2.8513 +num rollout transitions: 249349, reward mean: 2.8350 +num rollout transitions: 249340, reward mean: 2.8296 +---------------------------------------------------------------------------------- +| alpha | 0.0205 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.766 | +| loss/actor | -269 | +| loss/alpha | -0.00762 | +| loss/critic | 2.6 | +| penalty/lcb_mean | 0.174 | +| penalty/lcb_std | 0.347 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249279, reward mean: 2.8662 +num rollout transitions: 249258, reward mean: 2.8487 +num rollout transitions: 249304, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249342, reward mean: 2.8410 +num rollout transitions: 249306, reward mean: 2.8335 +num rollout transitions: 249372, reward mean: 2.8481 +num rollout transitions: 249322, reward mean: 2.8437 +num rollout transitions: 249352, reward mean: 2.8365 +num rollout transitions: 249300, reward mean: 2.8406 +num rollout transitions: 249384, reward mean: 2.8475 +num rollout transitions: 249300, reward mean: 2.8122 +num rollout transitions: 249335, reward mean: 2.8245 +num rollout transitions: 249278, reward mean: 2.8348 +num rollout transitions: 249304, reward mean: 2.8333 +num rollout transitions: 249359, reward mean: 2.8384 +num rollout transitions: 249274, reward mean: 2.8534 +num rollout transitions: 249235, reward mean: 2.8439 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0204 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.764 | +| loss/actor | -268 | +| loss/alpha | -0.00381 | +| loss/critic | 2.53 | +| penalty/lcb_mean | 0.178 | +| penalty/lcb_std | 0.35 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249359, reward mean: 2.8405 +num rollout transitions: 249351, reward mean: 2.8306 +num rollout transitions: 249348, reward mean: 2.8280 +num rollout transitions: 249307, reward mean: 2.8509 +num rollout transitions: 249281, reward mean: 2.8350 +num rollout transitions: 249286, reward mean: 2.8275 +num 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transitions: 249295, reward mean: 2.8335 +num rollout transitions: 249328, reward mean: 2.8490 +num rollout transitions: 249259, reward mean: 2.8432 +num rollout transitions: 249243, reward mean: 2.8402 +num rollout transitions: 249291, reward mean: 2.8343 +num rollout transitions: 249249, reward mean: 2.8286 +num rollout transitions: 249400, reward mean: 2.8471 +num rollout transitions: 249357, reward mean: 2.8316 +num rollout transitions: 249313, reward mean: 2.8472 +num rollout transitions: 249387, reward mean: 2.8348 +num rollout transitions: 249223, reward mean: 2.8327 +num rollout transitions: 249334, reward mean: 2.8385 +num rollout transitions: 249297, reward mean: 2.8256 +num rollout transitions: 249301, reward mean: 2.8364 +num rollout transitions: 249264, reward mean: 2.8264 +---------------------------------------------------------------------------------- +| alpha | 0.0219 | +| eval/episode_length | 137 | +| eval/episode_length_std | 0.953 | +| eval/normalized_episode_reward | 12.4 | +| eval/normalized_episode_reward_std | 0.706 | +| loss/actor | -268 | +| loss/alpha | -0.00671 | +| loss/critic | 2.62 | +| penalty/lcb_mean | 0.183 | +| penalty/lcb_std | 0.358 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249275, reward mean: 2.8400 +num rollout transitions: 249394, reward mean: 2.8463 +num rollout transitions: 249357, reward mean: 2.8236 +num rollout transitions: 249327, reward mean: 2.8383 +num rollout transitions: 249283, reward mean: 2.8203 +num rollout transitions: 249385, reward mean: 2.8410 +num rollout transitions: 249365, reward mean: 2.8520 +num rollout transitions: 249323, reward mean: 2.8345 +num rollout transitions: 249379, reward mean: 2.8424 +num rollout 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transitions: 249323, reward mean: 2.8378 +num rollout transitions: 249296, reward mean: 2.8502 +num rollout transitions: 249252, reward mean: 2.8403 +num rollout transitions: 249332, reward mean: 2.8358 +---------------------------------------------------------------------------------- +| alpha | 0.0202 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.757 | +| loss/actor | -268 | +| loss/alpha | 0.00985 | +| loss/critic | 2.38 | +| penalty/lcb_mean | 0.182 | +| penalty/lcb_std | 0.358 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249405, reward mean: 2.8469 +num rollout transitions: 249302, reward mean: 2.8444 +num rollout 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transitions: 249395, reward mean: 2.8313 +num rollout transitions: 249326, reward mean: 2.8417 +num rollout transitions: 249391, reward mean: 2.8398 +num rollout transitions: 249317, reward mean: 2.8476 +num rollout transitions: 249296, reward mean: 2.8351 +num rollout transitions: 249283, reward mean: 2.8297 +num rollout transitions: 249217, reward mean: 2.8344 +num rollout transitions: 249324, reward mean: 2.8408 +num rollout transitions: 249304, reward mean: 2.8346 +num rollout transitions: 249352, reward mean: 2.8458 +num rollout transitions: 249277, reward mean: 2.8405 +---------------------------------------------------------------------------------- +| alpha | 0.0212 | +| eval/episode_length | 785 | +| eval/episode_length_std | 373 | +| eval/normalized_episode_reward | 87.9 | +| eval/normalized_episode_reward_std | 44.2 | +| loss/actor | -267 | +| loss/alpha | -0.00192 | +| loss/critic | 2.5 | +| penalty/lcb_mean | 0.184 | +| penalty/lcb_std | 0.359 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249295, reward mean: 2.8329 +num rollout transitions: 249335, reward mean: 2.8357 +num rollout transitions: 249380, reward mean: 2.8494 +num rollout transitions: 249314, reward mean: 2.8493 +num rollout transitions: 249279, reward mean: 2.8378 +num rollout transitions: 249359, reward mean: 2.8377 +num rollout transitions: 249297, reward mean: 2.8501 +num rollout transitions: 249239, reward mean: 2.8412 +num rollout transitions: 249238, reward mean: 2.8328 +num rollout transitions: 249366, reward mean: 2.8499 +num rollout transitions: 249344, reward mean: 2.8304 +num rollout transitions: 249303, reward mean: 2.8446 +num rollout transitions: 249347, reward mean: 2.8280 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.02 | +| eval/episode_length | 125 | +| eval/episode_length_std | 0.628 | +| eval/normalized_episode_reward | 10.8 | +| eval/normalized_episode_reward_std | 0.669 | +| loss/actor | -267 | +| loss/alpha | -0.00787 | +| loss/critic | 2.33 | +| penalty/lcb_mean | 0.182 | +| penalty/lcb_std | 0.36 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249374, reward mean: 2.8294 +num rollout transitions: 249351, reward mean: 2.8490 +num rollout transitions: 249317, reward mean: 2.8372 +num rollout transitions: 249325, reward mean: 2.8490 +num rollout transitions: 249345, reward mean: 2.8498 +num rollout transitions: 249349, reward mean: 2.8466 +num 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reward mean: 2.8373 +num rollout transitions: 249253, reward mean: 2.8387 +num rollout transitions: 249313, reward mean: 2.8479 +num rollout transitions: 249341, reward mean: 2.8373 +num rollout transitions: 249306, reward mean: 2.8332 +num rollout transitions: 249372, reward mean: 2.8452 +num rollout transitions: 249341, reward mean: 2.8315 +num rollout transitions: 249300, reward mean: 2.8491 +num rollout transitions: 249346, reward mean: 2.8361 +num rollout transitions: 249254, reward mean: 2.8263 +num rollout transitions: 249322, reward mean: 2.8332 +num rollout transitions: 249330, reward mean: 2.8387 +num rollout transitions: 249375, reward mean: 2.8488 +num rollout transitions: 249254, reward mean: 2.8306 +num rollout transitions: 249346, reward mean: 2.8369 +num rollout transitions: 249291, reward mean: 2.8469 +num rollout transitions: 249352, reward mean: 2.8390 +num rollout transitions: 249233, reward mean: 2.8321 +num rollout transitions: 249401, reward mean: 2.8566 +num 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113 | +| eval/normalized_episode_reward_std | 0.725 | +| loss/actor | -268 | +| loss/alpha | 0.00755 | +| loss/critic | 2.8 | +| penalty/lcb_mean | 0.183 | +| penalty/lcb_std | 0.362 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249297, reward mean: 2.8310 +num rollout transitions: 249287, reward mean: 2.8334 +num rollout transitions: 249382, reward mean: 2.8256 +num rollout transitions: 249333, reward mean: 2.8454 +num rollout transitions: 249372, reward mean: 2.8391 +num rollout transitions: 249357, reward mean: 2.8212 +num rollout transitions: 249326, reward mean: 2.8482 +num rollout transitions: 249360, reward mean: 2.8287 +num rollout transitions: 249237, reward mean: 2.8436 +num rollout transitions: 249289, reward mean: 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mean: 2.8390 +num rollout transitions: 249334, reward mean: 2.8319 +num rollout transitions: 249348, reward mean: 2.8472 +num rollout transitions: 249299, reward mean: 2.8476 +---------------------------------------------------------------------------------- +| alpha | 0.02 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.711 | +| loss/actor | -268 | +| loss/alpha | 0.0105 | +| loss/critic | 3.4 | +| penalty/lcb_mean | 0.18 | +| penalty/lcb_std | 0.355 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 1900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249287, reward mean: 2.8523 +num rollout transitions: 249349, reward mean: 2.8381 +num rollout transitions: 249327, reward mean: 2.8336 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+---------------------------------------------------------------------------------- +| alpha | 0.0194 | +| eval/episode_length | 622 | +| eval/episode_length_std | 387 | +| eval/normalized_episode_reward | 69 | +| eval/normalized_episode_reward_std | 45.9 | +| loss/actor | -267 | +| loss/alpha | 0.00133 | +| loss/critic | 2.77 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.379 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249247, reward mean: 2.8261 +num rollout transitions: 249327, reward mean: 2.8407 +num rollout transitions: 249250, reward mean: 2.8379 +num rollout transitions: 249266, reward mean: 2.8276 +num rollout transitions: 249368, reward mean: 2.8379 +num rollout transitions: 249303, reward mean: 2.8427 +num 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| 113 | +| eval/normalized_episode_reward_std | 0.728 | +| loss/actor | -268 | +| loss/alpha | -0.00469 | +| loss/critic | 2.37 | +| penalty/lcb_mean | 0.183 | +| penalty/lcb_std | 0.369 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249332, reward mean: 2.8452 +num rollout transitions: 249273, reward mean: 2.8392 +num rollout transitions: 249319, reward mean: 2.8279 +num rollout transitions: 249291, reward mean: 2.8264 +num rollout transitions: 249342, reward mean: 2.8364 +num rollout transitions: 249345, reward mean: 2.8490 +num rollout transitions: 249329, reward mean: 2.8468 +num rollout transitions: 249304, reward mean: 2.8411 +num rollout transitions: 249342, reward mean: 2.8262 +num rollout transitions: 249298, reward mean: 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mean: 2.8400 +num rollout transitions: 249309, reward mean: 2.8333 +num rollout transitions: 249235, reward mean: 2.8433 +num rollout transitions: 249330, reward mean: 2.8332 +---------------------------------------------------------------------------------- +| alpha | 0.0184 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 114 | +| eval/normalized_episode_reward_std | 0.737 | +| loss/actor | -268 | +| loss/alpha | -0.0143 | +| loss/critic | 2.35 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.375 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249335, reward mean: 2.8321 +num rollout transitions: 249362, reward mean: 2.8369 +num rollout transitions: 249253, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249285, reward mean: 2.8449 +num rollout transitions: 249291, reward mean: 2.8372 +num rollout transitions: 249276, reward mean: 2.8336 +num rollout transitions: 249351, reward mean: 2.8237 +num rollout transitions: 249259, reward mean: 2.8449 +num rollout transitions: 249291, reward mean: 2.8308 +num rollout transitions: 249267, reward mean: 2.8259 +num rollout transitions: 249276, reward mean: 2.8375 +num rollout transitions: 249368, reward mean: 2.8365 +num rollout transitions: 249346, reward mean: 2.8524 +num rollout transitions: 249261, reward mean: 2.8233 +num rollout transitions: 249303, reward mean: 2.8179 +num rollout transitions: 249329, reward mean: 2.8324 +num rollout transitions: 249285, reward mean: 2.8298 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0175 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.708 | +| loss/actor | -268 | +| loss/alpha | 0.00282 | +| loss/critic | 2.63 | +| penalty/lcb_mean | 0.184 | +| penalty/lcb_std | 0.374 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249269, reward mean: 2.8401 +num rollout transitions: 249305, reward mean: 2.8537 +num rollout transitions: 249290, reward mean: 2.8367 +num rollout transitions: 249329, reward mean: 2.8486 +num rollout transitions: 249337, reward mean: 2.8398 +num rollout transitions: 249387, reward mean: 2.8245 +num 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| 113 | +| eval/normalized_episode_reward_std | 0.714 | +| loss/actor | -268 | +| loss/alpha | -0.0268 | +| loss/critic | 2.42 | +| penalty/lcb_mean | 0.184 | +| penalty/lcb_std | 0.376 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249356, reward mean: 2.8350 +num rollout transitions: 249334, reward mean: 2.8185 +num rollout transitions: 249341, reward mean: 2.8284 +num rollout transitions: 249269, reward mean: 2.8394 +num rollout transitions: 249300, reward mean: 2.8303 +num rollout transitions: 249339, reward mean: 2.8422 +num rollout transitions: 249306, reward mean: 2.8375 +num rollout transitions: 249395, reward mean: 2.8286 +num rollout transitions: 249327, reward mean: 2.8312 +num rollout transitions: 249359, reward mean: 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mean: 2.8385 +num rollout transitions: 249337, reward mean: 2.8300 +num rollout transitions: 249358, reward mean: 2.8344 +num rollout transitions: 249297, reward mean: 2.8274 +---------------------------------------------------------------------------------- +| alpha | 0.0162 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.925 | +| loss/actor | -268 | +| loss/alpha | 0.0131 | +| loss/critic | 2.13 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.384 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.83 | +| timestep | 2400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249314, reward mean: 2.8464 +num rollout transitions: 249366, reward mean: 2.8331 +num rollout transitions: 249308, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249373, reward mean: 2.8468 +num rollout transitions: 249280, reward mean: 2.8555 +num rollout transitions: 249387, reward mean: 2.8318 +num rollout transitions: 249232, reward mean: 2.8272 +num rollout transitions: 249311, reward mean: 2.8335 +num rollout transitions: 249246, reward mean: 2.8553 +num rollout transitions: 249318, reward mean: 2.8356 +num rollout transitions: 249272, reward mean: 2.8397 +num rollout transitions: 249288, reward mean: 2.8526 +num rollout transitions: 249319, reward mean: 2.8353 +num rollout transitions: 249293, reward mean: 2.8249 +num rollout transitions: 249386, reward mean: 2.8321 +num rollout transitions: 249305, reward mean: 2.8335 +num rollout transitions: 249289, reward mean: 2.8388 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0165 | +| eval/episode_length | 825 | +| eval/episode_length_std | 350 | +| eval/normalized_episode_reward | 92.5 | +| eval/normalized_episode_reward_std | 41.4 | +| loss/actor | -267 | +| loss/alpha | -0.00086 | +| loss/critic | 2.71 | +| penalty/lcb_mean | 0.189 | +| penalty/lcb_std | 0.392 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249340, reward mean: 2.8348 +num rollout transitions: 249298, reward mean: 2.8427 +num rollout transitions: 249311, reward mean: 2.8306 +num rollout transitions: 249334, reward mean: 2.8345 +num rollout transitions: 249343, reward mean: 2.8516 +num rollout transitions: 249274, reward mean: 2.8436 +num 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eval/normalized_episode_reward | 10.6 | +| eval/normalized_episode_reward_std | 0.676 | +| loss/actor | -267 | +| loss/alpha | -0.0262 | +| loss/critic | 2.08 | +| penalty/lcb_mean | 0.19 | +| penalty/lcb_std | 0.395 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249350, reward mean: 2.8283 +num rollout transitions: 249238, reward mean: 2.8529 +num rollout transitions: 249355, reward mean: 2.8688 +num rollout transitions: 249292, reward mean: 2.8515 +num rollout transitions: 249300, reward mean: 2.8461 +num rollout transitions: 249376, reward mean: 2.8325 +num rollout transitions: 249363, reward mean: 2.8406 +num rollout transitions: 249292, reward mean: 2.8368 +num rollout transitions: 249236, reward mean: 2.8243 +num rollout 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transitions: 249291, reward mean: 2.8489 +num rollout transitions: 249319, reward mean: 2.8415 +num rollout transitions: 249323, reward mean: 2.8330 +num rollout transitions: 249338, reward mean: 2.8398 +---------------------------------------------------------------------------------- +| alpha | 0.0159 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.725 | +| loss/actor | -267 | +| loss/alpha | 0.00928 | +| loss/critic | 2.36 | +| penalty/lcb_mean | 0.192 | +| penalty/lcb_std | 0.403 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249346, reward mean: 2.8471 +num rollout transitions: 249393, reward mean: 2.8267 +num rollout 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rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249321, reward mean: 2.8461 +num rollout transitions: 249225, reward mean: 2.8329 +num rollout transitions: 249302, reward mean: 2.8454 +num rollout transitions: 249322, reward mean: 2.8309 +num rollout transitions: 249240, reward mean: 2.8211 +num rollout transitions: 249400, reward mean: 2.8292 +num rollout transitions: 249377, reward mean: 2.8310 +num rollout transitions: 249307, reward mean: 2.8338 +num rollout transitions: 249308, reward mean: 2.8412 +num rollout transitions: 249356, reward mean: 2.8332 +num rollout transitions: 249327, reward mean: 2.8459 +num rollout transitions: 249364, reward mean: 2.8318 +num rollout transitions: 249278, reward mean: 2.8312 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0146 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.718 | +| loss/actor | -266 | +| loss/alpha | 0.00548 | +| loss/critic | 1.88 | +| penalty/lcb_mean | 0.191 | +| penalty/lcb_std | 0.401 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249355, reward mean: 2.8326 +num rollout transitions: 249278, reward mean: 2.8406 +num rollout transitions: 249312, reward mean: 2.8306 +num rollout transitions: 249379, reward mean: 2.8254 +num rollout transitions: 249390, reward mean: 2.8313 +num rollout transitions: 249259, reward mean: 2.8307 +num 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| 113 | +| eval/normalized_episode_reward_std | 0.723 | +| loss/actor | -266 | +| loss/alpha | 0.0116 | +| loss/critic | 2.32 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.408 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249347, reward mean: 2.8515 +num rollout transitions: 249306, reward mean: 2.8469 +num rollout transitions: 249285, reward mean: 2.8451 +num rollout transitions: 249361, reward mean: 2.8377 +num rollout transitions: 249289, reward mean: 2.8375 +num rollout transitions: 249319, reward mean: 2.8375 +num rollout transitions: 249331, reward mean: 2.8346 +num rollout transitions: 249302, reward mean: 2.8364 +num rollout transitions: 249344, reward mean: 2.8348 +num rollout transitions: 249278, reward mean: 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mean: 2.8453 +num rollout transitions: 249270, reward mean: 2.8336 +num rollout transitions: 249300, reward mean: 2.8311 +num rollout transitions: 249233, reward mean: 2.8331 +---------------------------------------------------------------------------------- +| alpha | 0.0144 | +| eval/episode_length | 231 | +| eval/episode_length_std | 284 | +| eval/normalized_episode_reward | 23.2 | +| eval/normalized_episode_reward_std | 33.9 | +| loss/actor | -266 | +| loss/alpha | -0.0205 | +| loss/critic | 2.05 | +| penalty/lcb_mean | 0.195 | +| penalty/lcb_std | 0.412 | +| rollout_info/dynamics_penalty_mean | 1 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249315, reward mean: 2.8345 +num rollout transitions: 249331, reward mean: 2.8320 +num rollout transitions: 249249, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 2.84 | +| timestep | 2950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249394, reward mean: 2.8463 +num rollout transitions: 249288, reward mean: 2.8429 +num rollout transitions: 249324, reward mean: 2.8418 +num rollout transitions: 249422, reward mean: 2.8381 +num rollout transitions: 249325, reward mean: 2.8388 +num rollout transitions: 249389, reward mean: 2.8418 +num rollout transitions: 249320, reward mean: 2.8379 +num rollout transitions: 249280, reward mean: 2.8360 +num rollout transitions: 249288, reward mean: 2.8355 +num rollout transitions: 249370, reward mean: 2.8389 +num rollout transitions: 249386, reward mean: 2.8317 +num rollout transitions: 249304, reward mean: 2.8398 +num rollout transitions: 249283, reward mean: 2.8427 +num rollout transitions: 249412, reward mean: 2.8340 +num rollout 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"dataset_path": "/public/d4rl/sparse_datasets/hopper_medium_expert_sparse_78.pkl", "dynamics_path": "log/hopper-medium-expert-v2/seed_123×tamp_26-0112-030632/model", "reward_penalty_coef": 0.3, "classifier_model_name": "/public/gormpo/models/hopper_medium_expert_sparse_3/kde", "use_wandb": true, "wandb_project": "mobile-gormpo", "wandb_entity": null, "domain": "gym", "actor_lr": 0.0001, "critic_lr": 0.0003, "hidden_dims": [256, 256], "gamma": 0.99, "tau": 0.005, "alpha": 0.2, "auto_alpha": true, "target_entropy": -3.0, "alpha_lr": 0.0001, "deterministic_backup": true, "max_q_backup": false, "norm_reward": false, "num_q_ensemble": 2, "dynamics_lr": 0.001, "dynamics_max_epochs": null, "max_epochs_since_update": 5, "dynamics_hidden_dims": [200, 200, 200, 200], "dynamics_weight_decay": [2.5e-05, 5e-05, 7.5e-05, 7.5e-05, 0.0001], "n_ensemble": 7, "n_elites": 5, "rollout_freq": 1000, "rollout_batch_size": 50000, "rollout_length": 5, "penalty_coef": 1.5, "num_samples": 10, 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--- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/kde/seed_42×tamp_26-0505-202702/record/consoleout_backup.txt @@ -0,0 +1,4021 @@ +num rollout transitions: 248033, reward mean: 3.3270 +num rollout transitions: 248650, reward mean: 3.3899 +num rollout transitions: 249317, reward mean: 3.4204 +num rollout transitions: 249321, reward mean: 3.4501 +num rollout transitions: 249337, reward mean: 3.4391 +num rollout transitions: 249360, reward mean: 3.4837 +num rollout transitions: 249403, reward mean: 3.4525 +num rollout transitions: 249246, reward mean: 3.4428 +num rollout transitions: 249311, reward mean: 3.4696 +num rollout transitions: 249370, reward mean: 3.4806 +num rollout transitions: 249258, reward mean: 3.4681 +num rollout transitions: 249321, reward mean: 3.4731 +num rollout transitions: 249246, reward mean: 3.5035 +num rollout transitions: 249337, reward mean: 3.4846 +num rollout transitions: 249397, reward mean: 3.4843 +num rollout transitions: 249399, reward mean: 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eval/episode_length_std | 0.728 | +| eval/normalized_episode_reward | 2.24 | +| eval/normalized_episode_reward_std | 0.656 | +| loss/actor | -304 | +| loss/alpha | -1.18 | +| loss/critic | 12.6 | +| penalty/lcb_mean | 0.376 | +| penalty/lcb_std | 0.562 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.49 | +| timestep | 50000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249315, reward mean: 3.4919 +num rollout transitions: 249290, reward mean: 3.4885 +num rollout transitions: 249338, reward mean: 3.4823 +num rollout transitions: 249307, reward mean: 3.4872 +num rollout transitions: 249363, reward mean: 3.4919 +num rollout transitions: 249339, reward mean: 3.4793 +num rollout transitions: 249338, reward mean: 3.5071 +num rollout transitions: 249293, reward mean: 3.4474 +num rollout transitions: 249334, 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+---------------------------------------------------------------------------------- +| alpha | 0.0403 | +| eval/episode_length | 73 | +| eval/episode_length_std | 0.806 | +| eval/normalized_episode_reward | 5.23 | +| eval/normalized_episode_reward_std | 0.677 | +| loss/actor | -327 | +| loss/alpha | -0.0328 | +| loss/critic | 7.09 | +| penalty/lcb_mean | 0.189 | +| penalty/lcb_std | 0.389 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.37 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249339, reward mean: 3.3907 +num rollout transitions: 249304, reward mean: 3.3677 +num rollout transitions: 249351, reward mean: 3.3668 +num rollout transitions: 249334, reward mean: 3.3603 +num rollout transitions: 249364, reward mean: 3.3504 +num rollout transitions: 249269, reward mean: 3.3362 +num 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rollout transitions: 249400, reward mean: 3.3706 +num rollout transitions: 249393, reward mean: 3.3589 +num rollout transitions: 249292, reward mean: 3.3554 +num rollout transitions: 249309, reward mean: 3.3553 +num rollout transitions: 249361, reward mean: 3.3912 +num rollout transitions: 249243, reward mean: 3.3782 +num rollout transitions: 249349, reward mean: 3.3716 +---------------------------------------------------------------------------------- +| alpha | 0.0373 | +| eval/episode_length | 332 | +| eval/episode_length_std | 73.3 | +| eval/normalized_episode_reward | 35.2 | +| eval/normalized_episode_reward_std | 8.98 | +| loss/actor | -315 | +| loss/alpha | -0.00287 | +| loss/critic | 6.19 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.35 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.37 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249266, reward mean: 3.3671 +num rollout transitions: 249398, reward mean: 3.3698 +num rollout transitions: 249322, reward mean: 3.3811 +num rollout transitions: 249268, reward mean: 3.3716 +num rollout transitions: 249309, reward mean: 3.3629 +num rollout transitions: 249358, reward mean: 3.3597 +num rollout transitions: 249339, reward mean: 3.3542 +num rollout transitions: 249358, reward mean: 3.3581 +num rollout transitions: 249331, reward mean: 3.3623 +num rollout transitions: 249224, reward mean: 3.3618 +num rollout transitions: 249270, reward mean: 3.3286 +num rollout transitions: 249238, reward mean: 3.3009 +num rollout transitions: 249338, reward mean: 3.4124 +num rollout transitions: 249258, reward mean: 3.3881 +num rollout transitions: 249379, reward mean: 3.4084 +num rollout transitions: 249387, reward mean: 3.3750 +num rollout transitions: 249326, reward mean: 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transitions: 249271, reward mean: 3.3577 +num rollout transitions: 249333, reward mean: 3.3717 +num rollout transitions: 249221, reward mean: 3.3175 +num rollout transitions: 249383, reward mean: 3.3987 +num rollout transitions: 249386, reward mean: 3.3735 +num rollout transitions: 249312, reward mean: 3.3587 +num rollout transitions: 249300, reward mean: 3.3719 +num rollout transitions: 249357, reward mean: 3.3985 +num rollout transitions: 249381, reward mean: 3.3633 +num rollout transitions: 249387, reward mean: 3.3748 +num rollout transitions: 249320, reward mean: 3.3773 +num rollout transitions: 249281, reward mean: 3.3570 +num rollout transitions: 249314, reward mean: 3.3849 +num rollout transitions: 249311, reward mean: 3.3353 +num rollout transitions: 249279, reward mean: 3.3651 +---------------------------------------------------------------------------------- +| alpha | 0.0347 | +| eval/episode_length | 341 | +| eval/episode_length_std | 42.8 | +| eval/normalized_episode_reward | 36.2 | +| eval/normalized_episode_reward_std | 6.33 | +| loss/actor | -313 | +| loss/alpha | 0.00934 | +| loss/critic | 6.95 | +| penalty/lcb_mean | 0.177 | +| penalty/lcb_std | 0.335 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.37 | +| timestep | 300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249300, reward mean: 3.3772 +num rollout transitions: 249419, reward mean: 3.3691 +num rollout transitions: 249273, reward mean: 3.3466 +num rollout transitions: 249293, reward mean: 3.3620 +num rollout transitions: 249301, reward mean: 3.3785 +num rollout transitions: 249357, reward mean: 3.3450 +num rollout transitions: 249267, reward mean: 3.3598 +num rollout transitions: 249268, reward mean: 3.3453 +num rollout transitions: 249369, reward mean: 3.4031 +num rollout 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transitions: 249296, reward mean: 3.3895 +num rollout transitions: 249335, reward mean: 3.3792 +num rollout transitions: 249268, reward mean: 3.3822 +num rollout transitions: 249287, reward mean: 3.3941 +---------------------------------------------------------------------------------- +| alpha | 0.0336 | +| eval/episode_length | 408 | +| eval/episode_length_std | 140 | +| eval/normalized_episode_reward | 44.4 | +| eval/normalized_episode_reward_std | 16.9 | +| loss/actor | -310 | +| loss/alpha | 0.0235 | +| loss/critic | 6.54 | +| penalty/lcb_mean | 0.181 | +| penalty/lcb_std | 0.349 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.37 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249342, reward mean: 3.3641 +num rollout transitions: 249380, reward mean: 3.3861 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249272, reward mean: 3.3171 +num rollout transitions: 249310, reward mean: 3.3314 +num rollout transitions: 249359, reward mean: 3.3231 +num rollout transitions: 249329, reward mean: 3.3496 +num rollout transitions: 249312, reward mean: 3.2963 +num rollout transitions: 249290, reward mean: 3.3608 +num rollout transitions: 249263, reward mean: 3.3416 +num rollout transitions: 249409, reward mean: 3.3554 +num rollout transitions: 249286, reward mean: 3.3379 +num rollout transitions: 249292, reward mean: 3.3632 +num rollout transitions: 249305, reward mean: 3.3992 +num rollout transitions: 249318, reward mean: 3.3426 +num rollout transitions: 249346, reward mean: 3.3475 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0307 | +| eval/episode_length | 393 | +| eval/episode_length_std | 66.1 | +| eval/normalized_episode_reward | 43 | +| eval/normalized_episode_reward_std | 8.43 | +| loss/actor | -312 | +| loss/alpha | 0.00619 | +| loss/critic | 5.28 | +| penalty/lcb_mean | 0.183 | +| penalty/lcb_std | 0.373 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249271, reward mean: 3.3696 +num rollout transitions: 249296, reward mean: 3.3510 +num rollout transitions: 249250, reward mean: 3.3550 +num rollout transitions: 249269, reward mean: 3.3533 +num rollout transitions: 249367, reward mean: 3.3710 +num rollout transitions: 249307, reward mean: 3.3856 +num 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transitions: 249382, reward mean: 3.3799 +num rollout transitions: 249366, reward mean: 3.3424 +num rollout transitions: 249281, reward mean: 3.3637 +num rollout transitions: 249319, reward mean: 3.3145 +num rollout transitions: 249336, reward mean: 3.3724 +num rollout transitions: 249361, reward mean: 3.3619 +num rollout transitions: 249408, reward mean: 3.3192 +num rollout transitions: 249339, reward mean: 3.3524 +num rollout transitions: 249260, reward mean: 3.3201 +num rollout transitions: 249343, reward mean: 3.3564 +num rollout transitions: 249320, reward mean: 3.3769 +num rollout transitions: 249377, reward mean: 3.3847 +num rollout transitions: 249401, reward mean: 3.3554 +num rollout transitions: 249264, reward mean: 3.3414 +num rollout transitions: 249323, reward mean: 3.3639 +---------------------------------------------------------------------------------- +| alpha | 0.031 | +| eval/episode_length | 209 | +| eval/episode_length_std | 0.984 | +| eval/normalized_episode_reward | 20.6 | +| eval/normalized_episode_reward_std | 0.703 | +| loss/actor | -313 | +| loss/alpha | 0.00108 | +| loss/critic | 5.91 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.38 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249342, reward mean: 3.3265 +num rollout transitions: 249323, reward mean: 3.3437 +num rollout transitions: 249348, reward mean: 3.3402 +num rollout transitions: 249384, reward mean: 3.3401 +num rollout transitions: 249308, reward mean: 3.3122 +num rollout transitions: 249252, reward mean: 3.3686 +num rollout transitions: 249355, reward mean: 3.3570 +num rollout transitions: 249376, reward mean: 3.3207 +num rollout transitions: 249298, reward mean: 3.3553 +num rollout 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transitions: 249321, reward mean: 3.3241 +num rollout transitions: 249338, reward mean: 3.3110 +num rollout transitions: 249394, reward mean: 3.3106 +num rollout transitions: 249334, reward mean: 3.3646 +---------------------------------------------------------------------------------- +| alpha | 0.0302 | +| eval/episode_length | 46.3 | +| eval/episode_length_std | 0.784 | +| eval/normalized_episode_reward | 2.87 | +| eval/normalized_episode_reward_std | 0.669 | +| loss/actor | -313 | +| loss/alpha | 0.0232 | +| loss/critic | 5.23 | +| penalty/lcb_mean | 0.192 | +| penalty/lcb_std | 0.388 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249288, reward mean: 3.3657 +num rollout transitions: 249254, reward mean: 3.3622 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249250, reward mean: 3.3417 +num rollout transitions: 249358, reward mean: 3.3255 +num rollout transitions: 249306, reward mean: 3.3320 +num rollout transitions: 249285, reward mean: 3.3321 +num rollout transitions: 249354, reward mean: 3.3186 +num rollout transitions: 249249, reward mean: 3.3508 +num rollout transitions: 249242, reward mean: 3.3395 +num rollout transitions: 249315, reward mean: 3.3731 +num rollout transitions: 249285, reward mean: 3.3297 +num rollout transitions: 249360, reward mean: 3.2897 +num rollout transitions: 249325, reward mean: 3.3562 +num rollout transitions: 249389, reward mean: 3.3567 +num rollout transitions: 249373, reward mean: 3.3469 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0304 | +| eval/episode_length | 51 | +| eval/episode_length_std | 0.477 | +| eval/normalized_episode_reward | 3.23 | +| eval/normalized_episode_reward_std | 0.65 | +| loss/actor | -309 | +| loss/alpha | -0.0107 | +| loss/critic | 5.67 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.418 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249338, reward mean: 3.3362 +num rollout transitions: 249380, reward mean: 3.3529 +num rollout transitions: 249390, reward mean: 3.3353 +num rollout transitions: 249106, reward mean: 3.3330 +num rollout transitions: 249392, reward mean: 3.3692 +num rollout transitions: 249257, reward mean: 3.3644 +num 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eval/normalized_episode_reward | 1.73 | +| eval/normalized_episode_reward_std | 0.659 | +| loss/actor | -310 | +| loss/alpha | 0.00267 | +| loss/critic | 4.79 | +| penalty/lcb_mean | 0.201 | +| penalty/lcb_std | 0.413 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249297, reward mean: 3.3469 +num rollout transitions: 249203, reward mean: 3.3314 +num rollout transitions: 249329, reward mean: 3.3601 +num rollout transitions: 249388, reward mean: 3.3492 +num rollout transitions: 249370, reward mean: 3.3491 +num rollout transitions: 249407, reward mean: 3.3507 +num rollout transitions: 249294, reward mean: 3.3304 +num rollout transitions: 249407, reward mean: 3.3199 +num rollout transitions: 249260, reward mean: 3.3373 +num rollout 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transitions: 249334, reward mean: 3.3387 +num rollout transitions: 249270, reward mean: 3.3430 +num rollout transitions: 249272, reward mean: 3.3356 +num rollout transitions: 249367, reward mean: 3.3442 +---------------------------------------------------------------------------------- +| alpha | 0.0279 | +| eval/episode_length | 126 | +| eval/episode_length_std | 2.11 | +| eval/normalized_episode_reward | 10.2 | +| eval/normalized_episode_reward_std | 0.843 | +| loss/actor | -311 | +| loss/alpha | -0.0083 | +| loss/critic | 4.07 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.416 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249370, reward mean: 3.3452 +num rollout transitions: 249385, reward mean: 3.3413 +num rollout transitions: 249332, reward mean: 3.3119 +num rollout transitions: 249332, reward mean: 3.3312 +num rollout transitions: 249332, reward mean: 3.3657 +num rollout transitions: 249355, reward mean: 3.3472 +num rollout transitions: 249327, reward mean: 3.3293 +num rollout transitions: 249325, reward mean: 3.3371 +num rollout transitions: 249285, reward mean: 3.3394 +num rollout transitions: 249387, reward mean: 3.3524 +num rollout transitions: 249422, reward mean: 3.3436 +num rollout transitions: 249272, reward mean: 3.3434 +num rollout transitions: 249322, reward mean: 3.3432 +num rollout transitions: 249333, reward mean: 3.3568 +num rollout transitions: 249361, reward mean: 3.3325 +num rollout transitions: 249349, reward mean: 3.3424 +num rollout transitions: 249395, reward mean: 3.3386 +num rollout transitions: 249329, reward mean: 3.3377 +num rollout transitions: 249293, reward mean: 3.3400 +num rollout transitions: 249363, reward mean: 3.3325 +num rollout transitions: 249331, reward 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transitions: 249277, reward mean: 3.3407 +num rollout transitions: 249402, reward mean: 3.3255 +num rollout transitions: 249369, reward mean: 3.3496 +num rollout transitions: 249270, reward mean: 3.3580 +num rollout transitions: 249430, reward mean: 3.3414 +num rollout transitions: 249430, reward mean: 3.3481 +num rollout transitions: 249369, reward mean: 3.3375 +num rollout transitions: 249329, reward mean: 3.3503 +num rollout transitions: 249378, reward mean: 3.3432 +num rollout transitions: 249368, reward mean: 3.3540 +num rollout transitions: 249373, reward mean: 3.3245 +---------------------------------------------------------------------------------- +| alpha | 0.0271 | +| eval/episode_length | 38.6 | +| eval/episode_length_std | 0.744 | +| eval/normalized_episode_reward | 2.56 | +| eval/normalized_episode_reward_std | 0.664 | +| loss/actor | -311 | +| loss/alpha | -0.00269 | +| loss/critic | 4.23 | +| penalty/lcb_mean | 0.201 | +| penalty/lcb_std | 0.411 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249302, reward mean: 3.3405 +num rollout transitions: 249283, reward mean: 3.3355 +num rollout transitions: 249287, reward mean: 3.3404 +num rollout transitions: 249297, reward mean: 3.3532 +num rollout transitions: 249350, reward mean: 3.3315 +num rollout transitions: 249422, reward mean: 3.3498 +num rollout transitions: 249310, reward mean: 3.3427 +num rollout transitions: 249367, reward mean: 3.3413 +num rollout transitions: 249310, reward mean: 3.3250 +num rollout transitions: 249292, reward mean: 3.3451 +num rollout transitions: 249278, reward mean: 3.3627 +num rollout transitions: 249401, reward mean: 3.3620 +num rollout transitions: 249287, reward mean: 3.3573 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0272 | +| eval/episode_length | 39.9 | +| eval/episode_length_std | 0.688 | +| eval/normalized_episode_reward | 2.62 | +| eval/normalized_episode_reward_std | 0.662 | +| loss/actor | -311 | +| loss/alpha | 0.0131 | +| loss/critic | 4.7 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.419 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249408, reward mean: 3.3323 +num rollout transitions: 249284, reward mean: 3.3248 +num rollout transitions: 249388, reward mean: 3.3370 +num rollout transitions: 249317, reward mean: 3.3361 +num rollout transitions: 249296, reward mean: 3.3433 +num rollout transitions: 249283, reward mean: 3.3493 +num 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transitions: 249373, reward mean: 3.3507 +num rollout transitions: 249281, reward mean: 3.3097 +num rollout transitions: 249399, reward mean: 3.3404 +num rollout transitions: 249274, reward mean: 3.3237 +num rollout transitions: 249338, reward mean: 3.3386 +num rollout transitions: 249336, reward mean: 3.3361 +num rollout transitions: 249278, reward mean: 3.3250 +num rollout transitions: 249413, reward mean: 3.3443 +num rollout transitions: 249301, reward mean: 3.3493 +num rollout transitions: 249408, reward mean: 3.3613 +num rollout transitions: 249344, reward mean: 3.3555 +num rollout transitions: 249354, reward mean: 3.3440 +num rollout transitions: 249306, reward mean: 3.3473 +num rollout transitions: 249358, reward mean: 3.3452 +num rollout transitions: 249370, reward mean: 3.3454 +---------------------------------------------------------------------------------- +| alpha | 0.0265 | +| eval/episode_length | 31.7 | +| eval/episode_length_std | 0.949 | +| eval/normalized_episode_reward | 1.95 | +| eval/normalized_episode_reward_std | 0.677 | +| loss/actor | -311 | +| loss/alpha | 0.00415 | +| loss/critic | 4.18 | +| penalty/lcb_mean | 0.201 | +| penalty/lcb_std | 0.425 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249312, reward mean: 3.3351 +num rollout transitions: 249297, reward mean: 3.3382 +num rollout transitions: 249400, reward mean: 3.3634 +num rollout transitions: 249304, reward mean: 3.3493 +num rollout transitions: 249331, reward mean: 3.3535 +num rollout transitions: 249310, reward mean: 3.3479 +num rollout transitions: 249399, reward mean: 3.3340 +num rollout transitions: 249292, reward mean: 3.3528 +num rollout transitions: 249336, reward mean: 3.3543 +num rollout 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transitions: 249299, reward mean: 3.3513 +num rollout transitions: 249240, reward mean: 3.3383 +num rollout transitions: 249365, reward mean: 3.3404 +num rollout transitions: 249309, reward mean: 3.3683 +----------------------------------------------------------------------------------- +| alpha | 0.026 | +| eval/episode_length | 42.4 | +| eval/episode_length_std | 0.76 | +| eval/normalized_episode_reward | 2.64 | +| eval/normalized_episode_reward_std | 0.681 | +| loss/actor | -312 | +| loss/alpha | -0.000521 | +| loss/critic | 4.35 | +| penalty/lcb_mean | 0.201 | +| penalty/lcb_std | 0.426 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1100000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249320, reward mean: 3.3423 +num rollout transitions: 249274, reward mean: 3.3340 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249330, reward mean: 3.3420 +num rollout transitions: 249385, reward mean: 3.3284 +num rollout transitions: 249321, reward mean: 3.3289 +num rollout transitions: 249269, reward mean: 3.3456 +num rollout transitions: 249343, reward mean: 3.3400 +num rollout transitions: 249360, reward mean: 3.3446 +num rollout transitions: 249336, reward mean: 3.3439 +num rollout transitions: 249264, reward mean: 3.3386 +num rollout transitions: 249381, reward mean: 3.3439 +num rollout transitions: 249303, reward mean: 3.3599 +num rollout transitions: 249389, reward mean: 3.3452 +num rollout transitions: 249308, reward mean: 3.3407 +num rollout transitions: 249410, reward mean: 3.3434 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0265 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.819 | +| loss/actor | -311 | +| loss/alpha | -0.012 | +| loss/critic | 4.73 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.423 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249340, reward mean: 3.3497 +num rollout transitions: 249307, reward mean: 3.3376 +num rollout transitions: 249347, reward mean: 3.3501 +num rollout transitions: 249271, reward mean: 3.3568 +num rollout transitions: 249339, reward mean: 3.3390 +num rollout transitions: 249341, reward mean: 3.3459 +num 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transitions: 249236, reward mean: 3.3448 +num rollout transitions: 249334, reward mean: 3.3543 +num rollout transitions: 249329, reward mean: 3.3456 +num rollout transitions: 249392, reward mean: 3.3620 +num rollout transitions: 249285, reward mean: 3.3332 +num rollout transitions: 249360, reward mean: 3.3366 +num rollout transitions: 249289, reward mean: 3.3351 +num rollout transitions: 249337, reward mean: 3.3447 +num rollout transitions: 249346, reward mean: 3.3419 +num rollout transitions: 249347, reward mean: 3.3648 +num rollout transitions: 249389, reward mean: 3.3399 +num rollout transitions: 249331, reward mean: 3.3476 +num rollout transitions: 249384, reward mean: 3.3644 +num rollout transitions: 249273, reward mean: 3.3430 +num rollout transitions: 249335, reward mean: 3.3319 +---------------------------------------------------------------------------------- +| alpha | 0.0252 | +| eval/episode_length | 49.5 | +| eval/episode_length_std | 0.499 | +| eval/normalized_episode_reward | 3.12 | +| eval/normalized_episode_reward_std | 0.66 | +| loss/actor | -312 | +| loss/alpha | 0.00414 | +| loss/critic | 3.95 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.423 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 1300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249293, reward mean: 3.3257 +num rollout transitions: 249346, reward mean: 3.3572 +num rollout transitions: 249393, reward mean: 3.3492 +num rollout transitions: 249336, reward mean: 3.3474 +num rollout transitions: 249384, reward mean: 3.3644 +num rollout transitions: 249290, reward mean: 3.3502 +num rollout transitions: 249340, reward mean: 3.3512 +num rollout transitions: 249309, reward mean: 3.3476 +num rollout transitions: 249339, reward mean: 3.3559 +num rollout 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transitions: 249312, reward mean: 3.3409 +num rollout transitions: 249348, reward mean: 3.3313 +num rollout transitions: 249339, reward mean: 3.3645 +num rollout transitions: 249339, reward mean: 3.3544 +---------------------------------------------------------------------------------- +| alpha | 0.0259 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.764 | +| loss/actor | -311 | +| loss/alpha | 0.0109 | +| loss/critic | 4.15 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.437 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249285, reward mean: 3.3381 +num rollout transitions: 249322, reward mean: 3.3338 +num rollout 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transitions: 249336, reward mean: 3.3435 +num rollout transitions: 249425, reward mean: 3.3542 +num rollout transitions: 249362, reward mean: 3.3614 +num rollout transitions: 249323, reward mean: 3.3441 +num rollout transitions: 249366, reward mean: 3.3496 +num rollout transitions: 249356, reward mean: 3.3448 +num rollout transitions: 249408, reward mean: 3.3391 +num rollout transitions: 249273, reward mean: 3.3253 +num rollout transitions: 249372, reward mean: 3.3405 +num rollout transitions: 249315, reward mean: 3.3429 +num rollout transitions: 249311, reward mean: 3.3380 +---------------------------------------------------------------------------------- +| alpha | 0.0259 | +| eval/episode_length | 852 | +| eval/episode_length_std | 228 | +| eval/normalized_episode_reward | 96.2 | +| eval/normalized_episode_reward_std | 27.6 | +| loss/actor | -311 | +| loss/alpha | -0.00177 | +| loss/critic | 4.17 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.435 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 1400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249230, reward mean: 3.3393 +num rollout transitions: 249392, reward mean: 3.3670 +num rollout transitions: 249338, reward mean: 3.3630 +num rollout transitions: 249362, reward mean: 3.3490 +num rollout transitions: 249353, reward mean: 3.3557 +num rollout transitions: 249343, reward mean: 3.3363 +num rollout transitions: 249381, reward mean: 3.3311 +num rollout transitions: 249320, reward mean: 3.3376 +num rollout transitions: 249368, reward mean: 3.3653 +num rollout transitions: 249350, reward mean: 3.3511 +num rollout transitions: 249311, reward mean: 3.3383 +num rollout transitions: 249341, reward mean: 3.3563 +num rollout transitions: 249402, reward mean: 3.3561 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0261 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.922 | +| loss/actor | -311 | +| loss/alpha | -0.00341 | +| loss/critic | 5.04 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.442 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249301, reward mean: 3.3487 +num rollout transitions: 249301, reward mean: 3.3450 +num rollout transitions: 249337, reward mean: 3.3325 +num rollout transitions: 249299, reward mean: 3.3449 +num rollout transitions: 249356, reward mean: 3.3390 +num rollout transitions: 249313, reward mean: 3.3522 +num 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| 75.9 | +| eval/normalized_episode_reward_std | 23.1 | +| loss/actor | -311 | +| loss/alpha | 0.0133 | +| loss/critic | 4.73 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.442 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 1550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249339, reward mean: 3.3574 +num rollout transitions: 249379, reward mean: 3.3366 +num rollout transitions: 249244, reward mean: 3.3455 +num rollout transitions: 249319, reward mean: 3.3448 +num rollout transitions: 249254, reward mean: 3.3480 +num rollout transitions: 249280, reward mean: 3.3629 +num rollout transitions: 249299, reward mean: 3.3455 +num rollout transitions: 249342, reward mean: 3.3454 +num rollout transitions: 249337, reward mean: 3.3485 +num rollout transitions: 249266, reward mean: 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mean: 3.3463 +num rollout transitions: 249364, reward mean: 3.3439 +num rollout transitions: 249298, reward mean: 3.3394 +num rollout transitions: 249388, reward mean: 3.3380 +---------------------------------------------------------------------------------- +| alpha | 0.0245 | +| eval/episode_length | 909 | +| eval/episode_length_std | 180 | +| eval/normalized_episode_reward | 102 | +| eval/normalized_episode_reward_std | 21.7 | +| loss/actor | -311 | +| loss/alpha | -0.02 | +| loss/critic | 3.4 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.447 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249404, reward mean: 3.3438 +num rollout transitions: 249232, reward mean: 3.3645 +num rollout transitions: 249318, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249336, reward mean: 3.3371 +num rollout transitions: 249401, reward mean: 3.3241 +num rollout transitions: 249373, reward mean: 3.3486 +num rollout transitions: 249283, reward mean: 3.3443 +num rollout transitions: 249321, reward mean: 3.3374 +num rollout transitions: 249286, reward mean: 3.3285 +num rollout transitions: 249328, reward mean: 3.3288 +num rollout transitions: 249326, reward mean: 3.3162 +num rollout transitions: 249276, reward mean: 3.3432 +num rollout transitions: 249212, reward mean: 3.3322 +num rollout transitions: 249319, reward mean: 3.3467 +num rollout transitions: 249350, reward mean: 3.3528 +num rollout transitions: 249257, reward mean: 3.3565 +num rollout transitions: 249331, reward mean: 3.3485 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0252 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.801 | +| loss/actor | -311 | +| loss/alpha | 0.00804 | +| loss/critic | 3.69 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.467 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249317, reward mean: 3.3523 +num rollout transitions: 249362, reward mean: 3.3351 +num rollout transitions: 249353, reward mean: 3.3340 +num rollout transitions: 249337, reward mean: 3.3359 +num rollout transitions: 249299, reward mean: 3.3339 +num rollout transitions: 249320, reward mean: 3.3320 +num 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transitions: 249255, reward mean: 3.3519 +num rollout transitions: 249304, reward mean: 3.3400 +num rollout transitions: 249386, reward mean: 3.3332 +num rollout transitions: 249294, reward mean: 3.3482 +num rollout transitions: 249359, reward mean: 3.3373 +num rollout transitions: 249271, reward mean: 3.3256 +num rollout transitions: 249331, reward mean: 3.3189 +num rollout transitions: 249243, reward mean: 3.3387 +num rollout transitions: 249313, reward mean: 3.3445 +num rollout transitions: 249308, reward mean: 3.3410 +num rollout transitions: 249277, reward mean: 3.3539 +num rollout transitions: 249349, reward mean: 3.3442 +num rollout transitions: 249352, reward mean: 3.3288 +num rollout transitions: 249363, reward mean: 3.3417 +num rollout transitions: 249310, reward mean: 3.3495 +---------------------------------------------------------------------------------- +| alpha | 0.0265 | +| eval/episode_length | 986 | +| eval/episode_length_std | 67.2 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 8.37 | +| loss/actor | -312 | +| loss/alpha | 0.0346 | +| loss/critic | 6.56 | +| penalty/lcb_mean | 0.208 | +| penalty/lcb_std | 0.447 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249283, reward mean: 3.3436 +num rollout transitions: 249300, reward mean: 3.3417 +num rollout transitions: 249347, reward mean: 3.3448 +num rollout transitions: 249361, reward mean: 3.3437 +num rollout transitions: 249328, reward mean: 3.3306 +num rollout transitions: 249334, reward mean: 3.3403 +num rollout transitions: 249316, reward mean: 3.3419 +num rollout transitions: 249304, reward mean: 3.3441 +num rollout transitions: 249340, reward mean: 3.3305 +num rollout 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transitions: 249403, reward mean: 3.3502 +num rollout transitions: 249338, reward mean: 3.3430 +num rollout transitions: 249299, reward mean: 3.3520 +num rollout transitions: 249313, reward mean: 3.3371 +---------------------------------------------------------------------------------- +| alpha | 0.0248 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.729 | +| loss/actor | -310 | +| loss/alpha | -0.0202 | +| loss/critic | 3.24 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.469 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249286, reward mean: 3.3523 +num rollout transitions: 249375, reward mean: 3.3365 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249274, reward mean: 3.3471 +num rollout transitions: 249341, reward mean: 3.3416 +num rollout transitions: 249305, reward mean: 3.3394 +num rollout transitions: 249316, reward mean: 3.3460 +num rollout transitions: 249285, reward mean: 3.3405 +num rollout transitions: 249356, reward mean: 3.3349 +num rollout transitions: 249372, reward mean: 3.3509 +num rollout transitions: 249489, reward mean: 3.3310 +num rollout transitions: 249293, reward mean: 3.3438 +num rollout transitions: 249315, reward mean: 3.3521 +num rollout transitions: 249242, reward mean: 3.3326 +num rollout transitions: 249316, reward mean: 3.3444 +num rollout transitions: 249296, reward mean: 3.3283 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0233 | +| eval/episode_length | 996 | +| eval/episode_length_std | 41.9 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 5.49 | +| loss/actor | -311 | +| loss/alpha | -0.0057 | +| loss/critic | 3.71 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.469 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249313, reward mean: 3.3516 +num rollout transitions: 249342, reward mean: 3.3446 +num rollout transitions: 249339, reward mean: 3.3415 +num rollout transitions: 249305, reward mean: 3.3396 +num rollout transitions: 249308, reward mean: 3.3314 +num rollout transitions: 249397, reward mean: 3.3435 +num 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| 113 | +| eval/normalized_episode_reward_std | 0.798 | +| loss/actor | -312 | +| loss/alpha | -0.00432 | +| loss/critic | 3.49 | +| penalty/lcb_mean | 0.207 | +| penalty/lcb_std | 0.464 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249406, reward mean: 3.3396 +num rollout transitions: 249258, reward mean: 3.3380 +num rollout transitions: 249314, reward mean: 3.3301 +num rollout transitions: 249314, reward mean: 3.3369 +num rollout transitions: 249316, reward mean: 3.3644 +num rollout transitions: 249313, reward mean: 3.3351 +num rollout transitions: 249363, reward mean: 3.3258 +num rollout transitions: 249328, reward mean: 3.3361 +num rollout transitions: 249334, reward mean: 3.3620 +num rollout transitions: 249352, reward mean: 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mean: 3.3393 +num rollout transitions: 249317, reward mean: 3.3274 +num rollout transitions: 249309, reward mean: 3.3265 +num rollout transitions: 249297, reward mean: 3.3436 +---------------------------------------------------------------------------------- +| alpha | 0.023 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.869 | +| loss/actor | -312 | +| loss/alpha | 0.005 | +| loss/critic | 3.26 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.469 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249328, reward mean: 3.3579 +num rollout transitions: 249407, reward mean: 3.3581 +num rollout transitions: 249329, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249189, reward mean: 3.3517 +num rollout transitions: 249337, reward mean: 3.3276 +num rollout transitions: 249386, reward mean: 3.3440 +num rollout transitions: 249329, reward mean: 3.3431 +num rollout transitions: 249327, reward mean: 3.3364 +num rollout transitions: 249305, reward mean: 3.3619 +num rollout transitions: 249326, reward mean: 3.3533 +num rollout transitions: 249421, reward mean: 3.3556 +num rollout transitions: 249391, reward mean: 3.3309 +num rollout transitions: 249359, reward mean: 3.3252 +num rollout transitions: 249281, reward mean: 3.3342 +num rollout transitions: 249319, reward mean: 3.3570 +num rollout transitions: 249337, reward mean: 3.3351 +num rollout transitions: 249360, reward mean: 3.3426 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0234 | +| eval/episode_length | 120 | +| eval/episode_length_std | 0.994 | +| eval/normalized_episode_reward | 9.97 | +| eval/normalized_episode_reward_std | 0.714 | +| loss/actor | -312 | +| loss/alpha | -0.0028 | +| loss/critic | 3.34 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.469 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249338, reward mean: 3.3365 +num rollout transitions: 249211, reward mean: 3.3291 +num rollout transitions: 249263, reward mean: 3.3431 +num rollout transitions: 249293, reward mean: 3.3478 +num rollout transitions: 249321, reward mean: 3.3443 +num rollout transitions: 249313, reward mean: 3.3381 +num 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| 113 | +| eval/normalized_episode_reward_std | 0.72 | +| loss/actor | -311 | +| loss/alpha | 0.0045 | +| loss/critic | 3.3 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.473 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249292, reward mean: 3.3446 +num rollout transitions: 249246, reward mean: 3.3426 +num rollout transitions: 249232, reward mean: 3.3436 +num rollout transitions: 249340, reward mean: 3.3493 +num rollout transitions: 249301, reward mean: 3.3301 +num rollout transitions: 249303, reward mean: 3.3145 +num rollout transitions: 249346, reward mean: 3.3313 +num rollout transitions: 249319, reward mean: 3.3299 +num rollout transitions: 249426, reward mean: 3.3402 +num rollout transitions: 249345, reward mean: 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mean: 3.3351 +num rollout transitions: 249246, reward mean: 3.3366 +num rollout transitions: 249287, reward mean: 3.3421 +num rollout transitions: 249339, reward mean: 3.3388 +---------------------------------------------------------------------------------- +| alpha | 0.0227 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.738 | +| loss/actor | -312 | +| loss/alpha | -0.00787 | +| loss/critic | 3.42 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.475 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249372, reward mean: 3.3430 +num rollout transitions: 249358, reward mean: 3.3471 +num rollout transitions: 249274, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249298, reward mean: 3.3219 +num rollout transitions: 249372, reward mean: 3.3294 +num rollout transitions: 249340, reward mean: 3.3411 +num rollout transitions: 249290, reward mean: 3.3380 +num rollout transitions: 249315, reward mean: 3.3321 +num rollout transitions: 249411, reward mean: 3.3349 +num rollout transitions: 249305, reward mean: 3.3330 +num rollout transitions: 249288, reward mean: 3.3325 +num rollout transitions: 249367, reward mean: 3.3460 +num rollout transitions: 249308, reward mean: 3.3497 +num rollout transitions: 249367, reward mean: 3.3307 +num rollout transitions: 249353, reward mean: 3.3351 +num rollout transitions: 249286, reward mean: 3.3348 +num rollout transitions: 249365, reward mean: 3.3450 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.023 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.707 | +| loss/actor | -311 | +| loss/alpha | 0.00448 | +| loss/critic | 3.32 | +| penalty/lcb_mean | 0.215 | +| penalty/lcb_std | 0.483 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249370, reward mean: 3.3368 +num rollout transitions: 249296, reward mean: 3.3337 +num rollout transitions: 249318, reward mean: 3.3404 +num rollout transitions: 249322, reward mean: 3.3333 +num rollout transitions: 249330, reward mean: 3.3365 +num rollout transitions: 249363, reward mean: 3.3348 +num 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| 113 | +| eval/normalized_episode_reward_std | 0.729 | +| loss/actor | -311 | +| loss/alpha | 0.0082 | +| loss/critic | 4.18 | +| penalty/lcb_mean | 0.215 | +| penalty/lcb_std | 0.479 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249313, reward mean: 3.3411 +num rollout transitions: 249345, reward mean: 3.3264 +num rollout transitions: 249255, reward mean: 3.3328 +num rollout transitions: 249302, reward mean: 3.3259 +num rollout transitions: 249363, reward mean: 3.3340 +num rollout transitions: 249288, reward mean: 3.3400 +num rollout transitions: 249369, reward mean: 3.3327 +num rollout transitions: 249373, reward mean: 3.3307 +num rollout transitions: 249263, reward mean: 3.3294 +num rollout transitions: 249358, reward mean: 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mean: 3.3349 +num rollout transitions: 249353, reward mean: 3.3346 +num rollout transitions: 249373, reward mean: 3.3192 +num rollout transitions: 249333, reward mean: 3.3498 +---------------------------------------------------------------------------------- +| alpha | 0.0225 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.723 | +| loss/actor | -310 | +| loss/alpha | -0.0123 | +| loss/critic | 3.27 | +| penalty/lcb_mean | 0.217 | +| penalty/lcb_std | 0.488 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249381, reward mean: 3.3380 +num rollout transitions: 249377, reward mean: 3.3389 +num rollout transitions: 249342, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249382, reward mean: 3.3458 +num rollout transitions: 249345, reward mean: 3.3404 +num rollout transitions: 249356, reward mean: 3.3345 +num rollout transitions: 249346, reward mean: 3.3464 +num rollout transitions: 249385, reward mean: 3.3279 +num rollout transitions: 249250, reward mean: 3.3342 +num rollout transitions: 249390, reward mean: 3.3334 +num rollout transitions: 249325, reward mean: 3.3411 +num rollout transitions: 249278, reward mean: 3.3402 +num rollout transitions: 249331, reward mean: 3.3303 +num rollout transitions: 249304, reward mean: 3.3342 +num rollout transitions: 249281, reward mean: 3.3244 +num rollout transitions: 249346, reward mean: 3.3287 +num rollout transitions: 249403, reward mean: 3.3341 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0222 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.728 | +| loss/actor | -310 | +| loss/alpha | 0.00347 | +| loss/critic | 3.21 | +| penalty/lcb_mean | 0.219 | +| penalty/lcb_std | 0.499 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249308, reward mean: 3.3371 +num rollout transitions: 249338, reward mean: 3.3282 +num rollout transitions: 249221, reward mean: 3.3311 +num rollout transitions: 249301, reward mean: 3.3319 +num rollout transitions: 249317, reward mean: 3.3416 +num rollout transitions: 249326, reward mean: 3.3334 +num 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+---------------------------------------------------------------------------------- +total time: 64507.89s diff --git a/hopper_medium_expert_sparse/mobile_based/kde/seed_42×tamp_26-0505-202702/record/dynamics_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/kde/seed_42×tamp_26-0505-202702/record/dynamics_training_progress.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mobile_based/kde/seed_42×tamp_26-0505-202702/record/hyper_param.json b/hopper_medium_expert_sparse/mobile_based/kde/seed_42×tamp_26-0505-202702/record/hyper_param.json new file mode 100644 index 0000000000000000000000000000000000000000..5bcfcf150614388b2320279a530d724845cc89a8 --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/kde/seed_42×tamp_26-0505-202702/record/hyper_param.json @@ -0,0 +1 @@ +{"config": "config_gormpo/hopper_medium_expert_78.yaml", "algo_name": "mobile_gormpo", "task": "hopper-medium-expert-v2", "seed": 42, "device": "cuda:2", "dataset_path": "/public/d4rl/sparse_datasets/hopper_medium_expert_sparse_78.pkl", "dynamics_path": "log/hopper-medium-expert-v2/seed_42×tamp_26-0112-030627/model", "reward_penalty_coef": 0.3, "classifier_model_name": "/public/gormpo/models/hopper_medium_expert_sparse_3/kde", "use_wandb": true, "wandb_project": "mobile-gormpo", "wandb_entity": null, "domain": "gym", "actor_lr": 0.0001, "critic_lr": 0.0003, "hidden_dims": [256, 256], "gamma": 0.99, "tau": 0.005, "alpha": 0.2, "auto_alpha": true, "target_entropy": -3.0, "alpha_lr": 0.0001, "deterministic_backup": true, "max_q_backup": false, "norm_reward": false, "num_q_ensemble": 2, "dynamics_lr": 0.001, "dynamics_max_epochs": null, "max_epochs_since_update": 5, "dynamics_hidden_dims": [200, 200, 200, 200], "dynamics_weight_decay": [2.5e-05, 5e-05, 7.5e-05, 7.5e-05, 0.0001], "n_ensemble": 7, "n_elites": 5, "rollout_freq": 1000, "rollout_batch_size": 50000, "rollout_length": 5, 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eval/normalized_episode_reward | 4.8 | +| eval/normalized_episode_reward_std | 0.668 | +| loss/actor | -394 | +| loss/alpha | -0.0308 | +| loss/critic | 12.2 | +| penalty/lcb_mean | 0.299 | +| penalty/lcb_std | 0.572 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.43 | +| timestep | 100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249312, reward mean: 3.4081 +num rollout transitions: 249303, reward mean: 3.4231 +num rollout transitions: 249261, reward mean: 3.4259 +num rollout transitions: 249292, reward mean: 3.4313 +num rollout transitions: 249373, reward mean: 3.4090 +num rollout transitions: 249338, reward mean: 3.4205 +num rollout transitions: 249230, reward mean: 3.4149 +num rollout transitions: 249378, reward mean: 3.4274 +num rollout transitions: 249348, reward mean: 3.4101 +num rollout 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transitions: 249208, reward mean: 3.3601 +num rollout transitions: 249273, reward mean: 3.3878 +num rollout transitions: 249301, reward mean: 3.3867 +num rollout transitions: 249352, reward mean: 3.3644 +---------------------------------------------------------------------------------- +| alpha | 0.0554 | +| eval/episode_length | 69 | +| eval/episode_length_std | 0.684 | +| eval/normalized_episode_reward | 4.71 | +| eval/normalized_episode_reward_std | 0.667 | +| loss/actor | -355 | +| loss/alpha | -0.0117 | +| loss/critic | 9.71 | +| penalty/lcb_mean | 0.249 | +| penalty/lcb_std | 0.446 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.39 | +| timestep | 150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249393, reward mean: 3.3740 +num rollout transitions: 249435, reward mean: 3.3765 +num rollout 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transitions: 249319, reward mean: 3.3269 +num rollout transitions: 249345, reward mean: 3.3457 +num rollout transitions: 249354, reward mean: 3.3449 +num rollout transitions: 249289, reward mean: 3.3370 +num rollout transitions: 249266, reward mean: 3.3425 +num rollout transitions: 249314, reward mean: 3.3339 +num rollout transitions: 249294, reward mean: 3.3324 +num rollout transitions: 249347, reward mean: 3.3402 +num rollout transitions: 249297, reward mean: 3.3422 +num rollout transitions: 249383, reward mean: 3.3368 +num rollout transitions: 249376, reward mean: 3.3479 +---------------------------------------------------------------------------------- +| alpha | 0.0474 | +| eval/episode_length | 155 | +| eval/episode_length_std | 0.808 | +| eval/normalized_episode_reward | 12.8 | +| eval/normalized_episode_reward_std | 0.709 | +| loss/actor | -318 | +| loss/alpha | -0.0174 | +| loss/critic | 8.91 | +| penalty/lcb_mean | 0.207 | +| penalty/lcb_std | 0.352 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.36 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249366, reward mean: 3.3439 +num rollout transitions: 249316, reward mean: 3.3530 +num rollout transitions: 249295, reward mean: 3.3240 +num rollout transitions: 249341, reward mean: 3.3581 +num rollout transitions: 249388, reward mean: 3.3457 +num rollout transitions: 249321, reward mean: 3.3319 +num rollout transitions: 249394, reward mean: 3.3495 +num rollout transitions: 249303, reward mean: 3.3676 +num rollout transitions: 249362, reward mean: 3.3859 +num rollout transitions: 249346, reward mean: 3.3391 +num rollout transitions: 249320, reward mean: 3.3591 +num rollout transitions: 249332, reward mean: 3.3430 +num rollout transitions: 249227, reward mean: 3.3467 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0414 | +| eval/episode_length | 226 | +| eval/episode_length_std | 2.23 | +| eval/normalized_episode_reward | 21.4 | +| eval/normalized_episode_reward_std | 0.916 | +| loss/actor | -297 | +| loss/alpha | -0.0274 | +| loss/critic | 6.67 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.357 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249369, reward mean: 3.3334 +num rollout transitions: 249345, reward mean: 3.3601 +num rollout transitions: 249330, reward mean: 3.3512 +num rollout transitions: 249339, reward mean: 3.3457 +num rollout transitions: 249309, reward mean: 3.3335 +num rollout transitions: 249355, reward mean: 3.3873 +num 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eval/normalized_episode_reward | 26 | +| eval/normalized_episode_reward_std | 5.93 | +| loss/actor | -298 | +| loss/alpha | -0.000855 | +| loss/critic | 5.36 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.396 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 350000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249315, reward mean: 3.3512 +num rollout transitions: 249281, reward mean: 3.3517 +num rollout transitions: 249394, reward mean: 3.3219 +num rollout transitions: 249232, reward mean: 3.3564 +num rollout transitions: 249317, reward mean: 3.3480 +num rollout transitions: 249414, reward mean: 3.3495 +num rollout transitions: 249391, reward mean: 3.3313 +num rollout transitions: 249261, reward mean: 3.3499 +num rollout transitions: 249338, reward mean: 3.3425 +num rollout 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transitions: 249273, reward mean: 3.3473 +num rollout transitions: 249329, reward mean: 3.3448 +num rollout transitions: 249285, reward mean: 3.3444 +num rollout transitions: 249364, reward mean: 3.3640 +---------------------------------------------------------------------------------- +| alpha | 0.033 | +| eval/episode_length | 42.3 | +| eval/episode_length_std | 0.48 | +| eval/normalized_episode_reward | 2.74 | +| eval/normalized_episode_reward_std | 0.652 | +| loss/actor | -301 | +| loss/alpha | -0.0103 | +| loss/critic | 5.49 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.414 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249316, reward mean: 3.3258 +num rollout transitions: 249331, reward mean: 3.3534 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249218, reward mean: 3.3684 +num rollout transitions: 249355, reward mean: 3.3358 +num rollout transitions: 249327, reward mean: 3.3476 +num rollout transitions: 249287, reward mean: 3.3513 +num rollout transitions: 249370, reward mean: 3.3597 +num rollout transitions: 249279, reward mean: 3.3360 +num rollout transitions: 249307, reward mean: 3.3313 +num rollout transitions: 249332, reward mean: 3.3429 +num rollout transitions: 249406, reward mean: 3.3493 +num rollout transitions: 249377, reward mean: 3.3364 +num rollout transitions: 249300, reward mean: 3.3757 +num rollout transitions: 249342, reward mean: 3.3395 +num rollout transitions: 249212, reward mean: 3.3173 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0295 | +| eval/episode_length | 357 | +| eval/episode_length_std | 75.6 | +| eval/normalized_episode_reward | 36.9 | +| eval/normalized_episode_reward_std | 9.23 | +| loss/actor | -304 | +| loss/alpha | -0.0117 | +| loss/critic | 4.8 | +| penalty/lcb_mean | 0.207 | +| penalty/lcb_std | 0.427 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249319, reward mean: 3.3502 +num rollout transitions: 249277, reward mean: 3.3429 +num rollout transitions: 249298, reward mean: 3.3484 +num rollout transitions: 249327, reward mean: 3.3414 +num rollout transitions: 249326, reward mean: 3.3446 +num rollout transitions: 249293, reward mean: 3.3407 +num 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eval/normalized_episode_reward | 11.1 | +| eval/normalized_episode_reward_std | 0.744 | +| loss/actor | -302 | +| loss/alpha | 0.00407 | +| loss/critic | 6.25 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.457 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249242, reward mean: 3.3685 +num rollout transitions: 249304, reward mean: 3.3514 +num rollout transitions: 249365, reward mean: 3.3487 +num rollout transitions: 249314, reward mean: 3.3629 +num rollout transitions: 249350, reward mean: 3.3295 +num rollout transitions: 249374, reward mean: 3.3576 +num rollout transitions: 249302, reward mean: 3.3383 +num rollout transitions: 249370, reward mean: 3.3378 +num rollout transitions: 249285, reward mean: 3.3469 +num rollout 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transitions: 249347, reward mean: 3.3556 +num rollout transitions: 249242, reward mean: 3.3519 +num rollout transitions: 249354, reward mean: 3.3411 +num rollout transitions: 249272, reward mean: 3.3464 +---------------------------------------------------------------------------------- +| alpha | 0.0302 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.812 | +| loss/actor | -302 | +| loss/alpha | 0.00476 | +| loss/critic | 6.04 | +| penalty/lcb_mean | 0.224 | +| penalty/lcb_std | 0.469 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249343, reward mean: 3.3564 +num rollout transitions: 249369, reward mean: 3.3300 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249302, reward mean: 3.3320 +num rollout transitions: 249344, reward mean: 3.3343 +num rollout transitions: 249360, reward mean: 3.3318 +num rollout transitions: 249293, reward mean: 3.3440 +num rollout transitions: 249227, reward mean: 3.3567 +num rollout transitions: 249343, reward mean: 3.3613 +num rollout transitions: 249256, reward mean: 3.3331 +num rollout transitions: 249260, reward mean: 3.3378 +num rollout transitions: 249271, reward mean: 3.3493 +num rollout transitions: 249415, reward mean: 3.3779 +num rollout transitions: 249366, reward mean: 3.3396 +num rollout transitions: 249336, reward mean: 3.3511 +num rollout transitions: 249437, reward mean: 3.3562 +num rollout transitions: 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rollout transitions: 249319, reward mean: 3.3584 +num rollout transitions: 249345, reward mean: 3.3366 +num rollout transitions: 249303, reward mean: 3.3444 +num rollout transitions: 249320, reward mean: 3.3624 +num rollout transitions: 249387, reward mean: 3.3178 +num rollout transitions: 249419, reward mean: 3.3300 +num rollout transitions: 249332, reward mean: 3.3311 +---------------------------------------------------------------------------------- +| alpha | 0.0316 | +| eval/episode_length | 200 | +| eval/episode_length_std | 0.892 | +| eval/normalized_episode_reward | 19 | +| eval/normalized_episode_reward_std | 0.729 | +| loss/actor | -301 | +| loss/alpha | 0.00559 | +| loss/critic | 5.76 | +| penalty/lcb_mean | 0.231 | +| penalty/lcb_std | 0.475 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 800000 | 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transitions: 249300, reward mean: 3.3514 +num rollout transitions: 249351, reward mean: 3.3399 +num rollout transitions: 249273, reward mean: 3.3514 +num rollout transitions: 249271, reward mean: 3.3350 +num rollout transitions: 249246, reward mean: 3.3377 +num rollout transitions: 249277, reward mean: 3.3284 +num rollout transitions: 249355, reward mean: 3.3467 +num rollout transitions: 249383, reward mean: 3.3438 +num rollout transitions: 249343, reward mean: 3.3373 +num rollout transitions: 249394, reward mean: 3.3372 +num rollout transitions: 249303, reward mean: 3.3333 +num rollout transitions: 249367, reward mean: 3.3475 +num rollout transitions: 249263, reward mean: 3.3486 +num rollout transitions: 249306, reward mean: 3.3176 +num rollout transitions: 249282, reward mean: 3.3603 +---------------------------------------------------------------------------------- +| alpha | 0.0312 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.709 | +| loss/actor | -300 | +| loss/alpha | -0.00226 | +| loss/critic | 5.18 | +| penalty/lcb_mean | 0.231 | +| penalty/lcb_std | 0.476 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249348, reward mean: 3.3498 +num rollout transitions: 249337, reward mean: 3.3308 +num rollout transitions: 249410, reward mean: 3.3398 +num rollout transitions: 249304, reward mean: 3.3237 +num rollout transitions: 249363, reward mean: 3.3256 +num rollout transitions: 249366, reward mean: 3.3242 +num rollout transitions: 249325, reward mean: 3.3478 +num rollout transitions: 249332, reward mean: 3.3347 +num rollout transitions: 249375, reward mean: 3.3358 +num rollout transitions: 249370, reward mean: 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mean: 3.3329 +num rollout transitions: 249319, reward mean: 3.3446 +num rollout transitions: 249317, reward mean: 3.3448 +num rollout transitions: 249342, reward mean: 3.3572 +---------------------------------------------------------------------------------- +| alpha | 0.0324 | +| eval/episode_length | 277 | +| eval/episode_length_std | 11.4 | +| eval/normalized_episode_reward | 27.8 | +| eval/normalized_episode_reward_std | 1.93 | +| loss/actor | -301 | +| loss/alpha | 0.0122 | +| loss/critic | 6.4 | +| penalty/lcb_mean | 0.229 | +| penalty/lcb_std | 0.478 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249309, reward mean: 3.3351 +num rollout transitions: 249315, reward mean: 3.3393 +num rollout transitions: 249290, reward mean: 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transitions: 249392, reward mean: 3.3103 +num rollout transitions: 249305, reward mean: 3.3425 +num rollout transitions: 249295, reward mean: 3.3634 +num rollout transitions: 249325, reward mean: 3.3385 +num rollout transitions: 249265, reward mean: 3.3371 +num rollout transitions: 249261, reward mean: 3.3461 +num rollout transitions: 249312, reward mean: 3.3302 +num rollout transitions: 249348, reward mean: 3.3351 +num rollout transitions: 249323, reward mean: 3.3454 +num rollout transitions: 249306, reward mean: 3.3510 +num rollout transitions: 249305, reward mean: 3.3319 +num rollout transitions: 249321, reward mean: 3.3659 +num rollout transitions: 249304, reward mean: 3.3309 +num rollout transitions: 249286, reward mean: 3.3442 +num rollout transitions: 249336, reward mean: 3.3503 +num rollout transitions: 249367, reward mean: 3.3539 +num rollout transitions: 249361, reward mean: 3.3273 +num rollout transitions: 249363, reward mean: 3.3677 +num rollout transitions: 249406, reward 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249343, reward mean: 3.3504 +num rollout transitions: 249386, reward mean: 3.3252 +num rollout transitions: 249356, reward mean: 3.3576 +num rollout transitions: 249375, reward mean: 3.3390 +num rollout transitions: 249342, reward mean: 3.3579 +num rollout transitions: 249257, reward mean: 3.3588 +num rollout transitions: 249261, reward mean: 3.3452 +num rollout transitions: 249362, reward mean: 3.3373 +num rollout transitions: 249264, reward mean: 3.3345 +num rollout transitions: 249276, reward mean: 3.3434 +num rollout transitions: 249312, reward mean: 3.3260 +num rollout transitions: 249352, reward mean: 3.3434 +num rollout transitions: 249319, reward mean: 3.3337 +num rollout transitions: 249360, reward mean: 3.3319 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0284 | +| eval/episode_length | 560 | +| eval/episode_length_std | 432 | +| eval/normalized_episode_reward | 61 | +| eval/normalized_episode_reward_std | 51.1 | +| loss/actor | -304 | +| loss/alpha | -0.00208 | +| loss/critic | 5.1 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.475 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249351, reward mean: 3.3473 +num rollout transitions: 249270, reward mean: 3.3522 +num rollout transitions: 249227, reward mean: 3.3548 +num rollout transitions: 249298, reward mean: 3.3341 +num rollout transitions: 249294, reward mean: 3.3395 +num rollout transitions: 249298, reward mean: 3.3296 +num 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transitions: 249324, reward mean: 3.3408 +num rollout transitions: 249294, reward mean: 3.3351 +num rollout transitions: 249332, reward mean: 3.3454 +num rollout transitions: 249425, reward mean: 3.3398 +num rollout transitions: 249317, reward mean: 3.3358 +num rollout transitions: 249221, reward mean: 3.3430 +num rollout transitions: 249261, reward mean: 3.3581 +num rollout transitions: 249323, reward mean: 3.3453 +num rollout transitions: 249281, reward mean: 3.3311 +num rollout transitions: 249354, reward mean: 3.3244 +num rollout transitions: 249312, reward mean: 3.3440 +num rollout transitions: 249326, reward mean: 3.3360 +num rollout transitions: 249289, reward mean: 3.3408 +num rollout transitions: 249380, reward mean: 3.3206 +num rollout transitions: 249260, reward mean: 3.3315 +---------------------------------------------------------------------------------- +| alpha | 0.0268 | +| eval/episode_length | 112 | +| eval/episode_length_std | 0.847 | +| eval/normalized_episode_reward | 8.92 | +| eval/normalized_episode_reward_std | 0.69 | +| loss/actor | -306 | +| loss/alpha | 0.0128 | +| loss/critic | 3.56 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.448 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249326, reward mean: 3.3450 +num rollout transitions: 249331, reward mean: 3.3429 +num rollout transitions: 249300, reward mean: 3.3239 +num rollout transitions: 249316, reward mean: 3.3273 +num rollout transitions: 249351, reward mean: 3.3256 +num rollout transitions: 249342, reward mean: 3.3386 +num rollout transitions: 249332, reward mean: 3.3236 +num rollout transitions: 249374, reward mean: 3.3190 +num rollout transitions: 249265, reward mean: 3.3448 +num rollout transitions: 249318, reward mean: 3.3171 +num rollout transitions: 249287, reward mean: 3.3401 +num rollout transitions: 249328, reward mean: 3.3379 +num rollout transitions: 249299, reward mean: 3.3379 +num rollout transitions: 249346, reward mean: 3.3272 +num rollout transitions: 249271, reward mean: 3.3313 +num rollout transitions: 249296, reward mean: 3.3221 +num rollout transitions: 249309, reward mean: 3.3372 +num rollout transitions: 249319, reward mean: 3.3288 +num rollout transitions: 249296, reward mean: 3.3241 +num rollout transitions: 249354, reward mean: 3.3396 +num rollout transitions: 249292, reward mean: 3.3308 +num rollout transitions: 249253, reward mean: 3.3407 +num rollout transitions: 249349, reward mean: 3.3275 +num rollout transitions: 249338, reward mean: 3.3151 +num rollout transitions: 249245, reward mean: 3.3182 +num rollout transitions: 249289, reward mean: 3.3236 +num rollout transitions: 249288, reward mean: 3.3292 +num rollout transitions: 249314, reward 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transitions: 249336, reward mean: 3.3161 +num rollout transitions: 249310, reward mean: 3.3303 +num rollout transitions: 249257, reward mean: 3.3271 +num rollout transitions: 249324, reward mean: 3.3344 +---------------------------------------------------------------------------------- +| alpha | 0.0272 | +| eval/episode_length | 131 | +| eval/episode_length_std | 0.701 | +| eval/normalized_episode_reward | 10.6 | +| eval/normalized_episode_reward_std | 0.672 | +| loss/actor | -308 | +| loss/alpha | -0.00879 | +| loss/critic | 3.54 | +| penalty/lcb_mean | 0.206 | +| penalty/lcb_std | 0.441 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249299, reward mean: 3.3568 +num rollout transitions: 249316, reward mean: 3.3379 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249293, reward mean: 3.3264 +num rollout transitions: 249362, reward mean: 3.3362 +num rollout transitions: 249295, reward mean: 3.3344 +num rollout transitions: 249267, reward mean: 3.3252 +num rollout transitions: 249253, reward mean: 3.3354 +num rollout transitions: 249245, reward mean: 3.3110 +num rollout transitions: 249350, reward mean: 3.3397 +num rollout transitions: 249308, reward mean: 3.3324 +num rollout transitions: 249242, reward mean: 3.3246 +num rollout transitions: 249341, reward mean: 3.3350 +num rollout transitions: 249270, reward mean: 3.3478 +num rollout transitions: 249324, reward mean: 3.3307 +num rollout transitions: 249281, reward mean: 3.3229 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0262 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.736 | +| loss/actor | -308 | +| loss/alpha | -0.00386 | +| loss/critic | 3.42 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.452 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249325, reward mean: 3.3490 +num rollout transitions: 249336, reward mean: 3.3375 +num rollout transitions: 249345, reward mean: 3.3274 +num rollout transitions: 249360, reward mean: 3.3500 +num rollout transitions: 249349, reward mean: 3.3221 +num rollout transitions: 249403, reward mean: 3.3553 +num 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| 112 | +| eval/normalized_episode_reward_std | 0.739 | +| loss/actor | -308 | +| loss/alpha | -0.00938 | +| loss/critic | 3.81 | +| penalty/lcb_mean | 0.215 | +| penalty/lcb_std | 0.466 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249246, reward mean: 3.3340 +num rollout transitions: 249311, reward mean: 3.3356 +num rollout transitions: 249287, reward mean: 3.3519 +num rollout transitions: 249271, reward mean: 3.3164 +num rollout transitions: 249263, reward mean: 3.3453 +num rollout transitions: 249319, reward mean: 3.3210 +num rollout transitions: 249284, reward mean: 3.3617 +num rollout transitions: 249345, reward mean: 3.3386 +num rollout transitions: 249325, reward mean: 3.3275 +num rollout transitions: 249382, reward mean: 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mean: 3.3321 +num rollout transitions: 249359, reward mean: 3.3237 +num rollout transitions: 249278, reward mean: 3.3425 +num rollout transitions: 249332, reward mean: 3.3530 +---------------------------------------------------------------------------------- +| alpha | 0.0253 | +| eval/episode_length | 939 | +| eval/episode_length_std | 176 | +| eval/normalized_episode_reward | 105 | +| eval/normalized_episode_reward_std | 21.1 | +| loss/actor | -307 | +| loss/alpha | 0.000862 | +| loss/critic | 4.03 | +| penalty/lcb_mean | 0.216 | +| penalty/lcb_std | 0.471 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249369, reward mean: 3.3290 +num rollout transitions: 249325, reward mean: 3.3424 +num rollout transitions: 249359, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249282, reward mean: 3.3215 +num rollout transitions: 249338, reward mean: 3.3515 +num rollout transitions: 249271, reward mean: 3.3497 +num rollout transitions: 249289, reward mean: 3.3404 +num rollout transitions: 249287, reward mean: 3.3442 +num rollout transitions: 249347, reward mean: 3.3415 +num rollout transitions: 249362, reward mean: 3.3252 +num rollout transitions: 249359, reward mean: 3.3331 +num rollout transitions: 249344, reward mean: 3.3394 +num rollout transitions: 249285, reward mean: 3.3233 +num rollout transitions: 249303, reward mean: 3.3344 +num rollout transitions: 249371, reward mean: 3.3461 +num rollout transitions: 249357, reward mean: 3.3486 +num rollout transitions: 249269, reward mean: 3.3277 +num rollout 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eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.712 | +| loss/actor | -306 | +| loss/alpha | -0.000943 | +| loss/critic | 3.78 | +| penalty/lcb_mean | 0.226 | +| penalty/lcb_std | 0.495 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1600000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249321, reward mean: 3.3362 +num rollout transitions: 249301, reward mean: 3.3450 +num rollout transitions: 249378, reward mean: 3.3508 +num rollout transitions: 249346, reward mean: 3.3491 +num rollout transitions: 249329, reward mean: 3.3492 +num rollout transitions: 249307, reward mean: 3.3373 +num rollout transitions: 249320, reward mean: 3.3291 +num rollout transitions: 249330, reward mean: 3.3335 +num rollout transitions: 249345, reward mean: 3.3320 +num rollout 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transitions: 249344, reward mean: 3.3238 +num rollout transitions: 249292, reward mean: 3.3338 +num rollout transitions: 249363, reward mean: 3.3497 +num rollout transitions: 249287, reward mean: 3.3468 +---------------------------------------------------------------------------------- +| alpha | 0.0258 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.725 | +| loss/actor | -306 | +| loss/alpha | -0.00847 | +| loss/critic | 4.3 | +| penalty/lcb_mean | 0.227 | +| penalty/lcb_std | 0.493 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249318, reward mean: 3.3399 +num rollout transitions: 249362, reward mean: 3.3453 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249360, reward mean: 3.3314 +num rollout transitions: 249348, reward mean: 3.3369 +num rollout transitions: 249316, reward mean: 3.3414 +num rollout transitions: 249355, reward mean: 3.3283 +num rollout transitions: 249424, reward mean: 3.3402 +num rollout transitions: 249311, reward mean: 3.3511 +num rollout transitions: 249306, reward mean: 3.3346 +num rollout transitions: 249313, reward mean: 3.3497 +num rollout transitions: 249254, reward mean: 3.3406 +num rollout transitions: 249274, reward mean: 3.3170 +num rollout transitions: 249375, reward mean: 3.3455 +num rollout transitions: 249313, reward mean: 3.3378 +num rollout transitions: 249363, reward mean: 3.3324 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0248 | +| eval/episode_length | 301 | +| eval/episode_length_std | 169 | +| eval/normalized_episode_reward | 31 | +| eval/normalized_episode_reward_std | 20.4 | +| loss/actor | -306 | +| loss/alpha | -0.00559 | +| loss/critic | 4.02 | +| penalty/lcb_mean | 0.231 | +| penalty/lcb_std | 0.513 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249270, reward mean: 3.3311 +num rollout transitions: 249340, reward mean: 3.3245 +num rollout transitions: 249280, reward mean: 3.3409 +num rollout transitions: 249312, reward mean: 3.3369 +num rollout transitions: 249330, reward mean: 3.3285 +num rollout transitions: 249287, reward mean: 3.3374 +num 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| 112 | +| eval/normalized_episode_reward_std | 0.742 | +| loss/actor | -305 | +| loss/alpha | 0.0106 | +| loss/critic | 4.59 | +| penalty/lcb_mean | 0.233 | +| penalty/lcb_std | 0.52 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249272, reward mean: 3.3280 +num rollout transitions: 249328, reward mean: 3.3478 +num rollout transitions: 249396, reward mean: 3.3451 +num rollout transitions: 249289, reward mean: 3.3414 +num rollout transitions: 249279, reward mean: 3.3451 +num rollout transitions: 249437, reward mean: 3.3499 +num rollout transitions: 249289, reward mean: 3.3460 +num rollout transitions: 249272, reward mean: 3.3287 +num rollout transitions: 249352, reward mean: 3.3371 +num rollout transitions: 249365, reward mean: 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mean: 3.3200 +num rollout transitions: 249356, reward mean: 3.3211 +num rollout transitions: 249335, reward mean: 3.3288 +num rollout transitions: 249303, reward mean: 3.3249 +---------------------------------------------------------------------------------- +| alpha | 0.0242 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.748 | +| loss/actor | -305 | +| loss/alpha | -0.0156 | +| loss/critic | 4.34 | +| penalty/lcb_mean | 0.23 | +| penalty/lcb_std | 0.513 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249322, reward mean: 3.3351 +num rollout transitions: 249315, reward mean: 3.3383 +num rollout transitions: 249335, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0235 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.734 | +| loss/actor | -305 | +| loss/alpha | 0.00124 | +| loss/critic | 3.89 | +| penalty/lcb_mean | 0.228 | +| penalty/lcb_std | 0.512 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249352, reward mean: 3.3352 +num rollout transitions: 249324, reward mean: 3.3238 +num rollout transitions: 249366, reward mean: 3.3511 +num rollout transitions: 249304, reward mean: 3.3253 +num rollout transitions: 249304, reward mean: 3.3279 +num rollout transitions: 249371, reward mean: 3.3317 +num 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eval/normalized_episode_reward | 1.44 | +| eval/normalized_episode_reward_std | 0.664 | +| loss/actor | -306 | +| loss/alpha | -0.00364 | +| loss/critic | 3.86 | +| penalty/lcb_mean | 0.225 | +| penalty/lcb_std | 0.498 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249399, reward mean: 3.3289 +num rollout transitions: 249269, reward mean: 3.3324 +num rollout transitions: 249362, reward mean: 3.3257 +num rollout transitions: 249353, reward mean: 3.3296 +num rollout transitions: 249359, reward mean: 3.3409 +num rollout transitions: 249377, reward mean: 3.3337 +num rollout transitions: 249370, reward mean: 3.3354 +num rollout transitions: 249367, reward mean: 3.3371 +num rollout transitions: 249380, reward mean: 3.3338 +num rollout 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rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249352, reward mean: 3.3344 +num rollout transitions: 249325, reward mean: 3.3311 +num rollout transitions: 249385, reward mean: 3.3045 +num rollout transitions: 249292, reward mean: 3.3308 +num rollout transitions: 249388, reward mean: 3.3252 +num rollout transitions: 249255, reward mean: 3.3451 +num rollout transitions: 249336, reward mean: 3.3410 +num rollout transitions: 249266, reward mean: 3.3245 +num rollout transitions: 249348, reward mean: 3.3562 +num rollout transitions: 249304, reward mean: 3.3434 +num rollout transitions: 249349, reward mean: 3.3277 +num rollout transitions: 249265, reward mean: 3.3468 +num rollout transitions: 249344, reward mean: 3.3344 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0222 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.728 | +| loss/actor | -305 | +| loss/alpha | -0.0167 | +| loss/critic | 3.59 | +| penalty/lcb_mean | 0.227 | +| penalty/lcb_std | 0.505 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249331, reward mean: 3.3397 +num rollout transitions: 249275, reward mean: 3.3254 +num rollout transitions: 249331, reward mean: 3.3502 +num rollout transitions: 249344, reward mean: 3.3290 +num rollout transitions: 249339, reward mean: 3.3230 +num rollout transitions: 249364, reward mean: 3.3299 +num 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| 113 | +| eval/normalized_episode_reward_std | 0.735 | +| loss/actor | -307 | +| loss/alpha | -0.00485 | +| loss/critic | 2.99 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.492 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249258, reward mean: 3.3339 +num rollout transitions: 249313, reward mean: 3.3219 +num rollout transitions: 249398, reward mean: 3.3273 +num rollout transitions: 249217, reward mean: 3.3305 +num rollout transitions: 249250, reward mean: 3.3220 +num rollout transitions: 249363, reward mean: 3.3269 +num rollout transitions: 249354, reward mean: 3.3318 +num rollout transitions: 249295, reward mean: 3.3231 +num rollout transitions: 249293, reward mean: 3.3445 +num rollout transitions: 249410, reward mean: 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mean: 3.3167 +num rollout transitions: 249391, reward mean: 3.3210 +num rollout transitions: 249347, reward mean: 3.3233 +num rollout transitions: 249414, reward mean: 3.3242 +---------------------------------------------------------------------------------- +| alpha | 0.0215 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.741 | +| loss/actor | -307 | +| loss/alpha | -0.00874 | +| loss/critic | 3.43 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.498 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249273, reward mean: 3.3459 +num rollout transitions: 249246, reward mean: 3.3179 +num rollout transitions: 249232, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249357, reward mean: 3.3373 +num rollout transitions: 249268, reward mean: 3.3257 +num rollout transitions: 249322, reward mean: 3.3367 +num rollout transitions: 249290, reward mean: 3.3409 +num rollout transitions: 249315, reward mean: 3.3354 +num rollout transitions: 249308, reward mean: 3.3314 +num rollout transitions: 249328, reward mean: 3.3268 +num rollout transitions: 249279, reward mean: 3.3258 +num rollout transitions: 249258, reward mean: 3.3265 +num rollout transitions: 249288, reward mean: 3.3372 +num rollout transitions: 249303, reward mean: 3.3329 +num rollout transitions: 249296, reward mean: 3.3278 +num rollout transitions: 249362, reward mean: 3.3375 +num rollout transitions: 249237, reward mean: 3.3319 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0213 | +| eval/episode_length | 731 | +| eval/episode_length_std | 431 | +| eval/normalized_episode_reward | 82 | +| eval/normalized_episode_reward_std | 50.2 | +| loss/actor | -307 | +| loss/alpha | -0.0115 | +| loss/critic | 3.08 | +| penalty/lcb_mean | 0.22 | +| penalty/lcb_std | 0.491 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249268, reward mean: 3.3248 +num rollout transitions: 249334, reward mean: 3.3216 +num rollout transitions: 249296, reward mean: 3.3216 +num rollout transitions: 249337, reward mean: 3.3385 +num rollout transitions: 249317, reward mean: 3.3366 +num rollout transitions: 249365, reward mean: 3.3247 +num 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transitions: 249224, reward mean: 3.3245 +num rollout transitions: 249340, reward mean: 3.3360 +num rollout transitions: 249220, reward mean: 3.3343 +num rollout transitions: 249227, reward mean: 3.3296 +num rollout transitions: 249322, reward mean: 3.3354 +num rollout transitions: 249392, reward mean: 3.3276 +num rollout transitions: 249267, reward mean: 3.3190 +num rollout transitions: 249307, reward mean: 3.3396 +num rollout transitions: 249361, reward mean: 3.3424 +num rollout transitions: 249193, reward mean: 3.3476 +num rollout transitions: 249383, reward mean: 3.3425 +num rollout transitions: 249330, reward mean: 3.3384 +num rollout transitions: 249247, reward mean: 3.3241 +num rollout transitions: 249312, reward mean: 3.3284 +num rollout transitions: 249286, reward mean: 3.3415 +---------------------------------------------------------------------------------- +| alpha | 0.0208 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.739 | +| loss/actor | -307 | +| loss/alpha | 0.00909 | +| loss/critic | 3.39 | +| penalty/lcb_mean | 0.219 | +| penalty/lcb_std | 0.49 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249292, reward mean: 3.3419 +num rollout transitions: 249381, reward mean: 3.3414 +num rollout transitions: 249361, reward mean: 3.3265 +num rollout transitions: 249321, reward mean: 3.3183 +num rollout transitions: 249320, reward mean: 3.3378 +num rollout transitions: 249351, reward mean: 3.3297 +num rollout transitions: 249362, reward mean: 3.3378 +num rollout transitions: 249247, reward mean: 3.3293 +num rollout transitions: 249343, reward mean: 3.3284 +num rollout transitions: 249372, reward mean: 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mean: 3.3313 +num rollout transitions: 249272, reward mean: 3.3390 +num rollout transitions: 249371, reward mean: 3.3458 +num rollout transitions: 249302, reward mean: 3.3325 +---------------------------------------------------------------------------------- +| alpha | 0.0204 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.752 | +| loss/actor | -307 | +| loss/alpha | -0.00595 | +| loss/critic | 3.04 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.501 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249337, reward mean: 3.3445 +num rollout transitions: 249352, reward mean: 3.3311 +num rollout transitions: 249389, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2700000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249376, reward mean: 3.3315 +num rollout transitions: 249286, reward mean: 3.3441 +num rollout transitions: 249339, reward mean: 3.3464 +num rollout transitions: 249410, reward mean: 3.3416 +num rollout transitions: 249352, reward mean: 3.3380 +num rollout transitions: 249332, reward mean: 3.3341 +num rollout transitions: 249321, reward mean: 3.3386 +num rollout transitions: 249369, reward mean: 3.3297 +num rollout transitions: 249335, reward mean: 3.3311 +num rollout transitions: 249371, reward mean: 3.3404 +num rollout transitions: 249367, reward mean: 3.3428 +num rollout transitions: 249391, reward mean: 3.3340 +num rollout transitions: 249306, reward mean: 3.3361 +num rollout transitions: 249375, reward mean: 3.3274 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0199 | +| eval/episode_length | 998 | +| eval/episode_length_std | 20.3 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 3.02 | +| loss/actor | -307 | +| loss/alpha | -0.00515 | +| loss/critic | 3.08 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.5 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249360, reward mean: 3.3278 +num rollout transitions: 249276, reward mean: 3.3323 +num rollout transitions: 249313, reward mean: 3.3386 +num rollout transitions: 249354, reward mean: 3.3343 +num rollout transitions: 249358, reward mean: 3.3380 +num rollout transitions: 249267, reward mean: 3.3311 +num 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| 95.9 | +| eval/normalized_episode_reward_std | 23.3 | +| loss/actor | -307 | +| loss/alpha | -0.00266 | +| loss/critic | 2.88 | +| penalty/lcb_mean | 0.226 | +| penalty/lcb_std | 0.511 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249265, reward mean: 3.3334 +num rollout transitions: 249253, reward mean: 3.3378 +num rollout transitions: 249348, reward mean: 3.3260 +num rollout transitions: 249262, reward mean: 3.3396 +num rollout transitions: 249304, reward mean: 3.3346 +num rollout transitions: 249416, reward mean: 3.3320 +num rollout transitions: 249316, reward mean: 3.3327 +num rollout transitions: 249297, reward mean: 3.3355 +num rollout transitions: 249219, reward mean: 3.3311 +num rollout transitions: 249368, reward mean: 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mean: 3.3359 +num rollout transitions: 249374, reward mean: 3.3382 +num rollout transitions: 249349, reward mean: 3.3282 +num rollout transitions: 249245, reward mean: 3.3357 +---------------------------------------------------------------------------------- +| alpha | 0.0193 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.775 | +| loss/actor | -306 | +| loss/alpha | -0.00589 | +| loss/critic | 2.83 | +| penalty/lcb_mean | 0.227 | +| penalty/lcb_std | 0.512 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249350, reward mean: 3.3302 +num rollout transitions: 249261, reward mean: 3.3328 +num rollout transitions: 249375, reward mean: 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rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249367, reward mean: 3.3356 +num rollout transitions: 249345, reward mean: 3.3362 +num rollout transitions: 249305, reward mean: 3.3346 +num rollout transitions: 249353, reward mean: 3.3319 +num rollout transitions: 249270, reward mean: 3.3344 +num rollout transitions: 249383, reward mean: 3.3335 +num rollout transitions: 249222, reward mean: 3.3283 +num rollout transitions: 249318, reward mean: 3.3313 +num rollout transitions: 249386, reward mean: 3.3349 +num rollout transitions: 249319, reward mean: 3.3390 +num rollout transitions: 249332, reward mean: 3.3349 +num rollout transitions: 249164, reward mean: 3.3295 +num rollout transitions: 249339, reward mean: 3.3345 +num rollout transitions: 249295, reward mean: 3.3356 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0187 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.82 | +| loss/actor | -306 | +| loss/alpha | -0.0346 | +| loss/critic | 2.87 | +| penalty/lcb_mean | 0.231 | +| penalty/lcb_std | 0.526 | +| rollout_info/dynamics_penalty_mean | 0 | +| rollout_info/dynamics_penalty_std | 0 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 3000000 | +---------------------------------------------------------------------------------- +total time: 63694.23s diff --git a/hopper_medium_expert_sparse/mobile_based/kde/seed_456×tamp_26-0505-202659/record/dynamics_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/kde/seed_456×tamp_26-0505-202659/record/dynamics_training_progress.csv new file mode 100644 index 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a/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/consoleout_backup.txt b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/consoleout_backup.txt new file mode 100644 index 0000000000000000000000000000000000000000..7b96655839ddd4382f1e9aa9ef36d48c8e2a2903 --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/consoleout_backup.txt @@ -0,0 +1,4021 @@ +num rollout transitions: 24672, reward mean: 3.1974 +num rollout transitions: 24881, reward mean: 3.2885 +num rollout transitions: 24928, reward mean: 3.3044 +num rollout transitions: 24940, reward mean: 3.3464 +num rollout transitions: 24933, reward mean: 3.3354 +num rollout transitions: 24937, reward mean: 3.3261 +num rollout transitions: 24926, reward mean: 3.3363 +num rollout transitions: 24948, reward mean: 3.3368 +num rollout transitions: 24927, reward mean: 3.3162 +num rollout transitions: 24944, reward 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24927, reward mean: 3.2978 +num rollout transitions: 24952, reward mean: 3.3262 +num rollout transitions: 24956, reward mean: 3.3187 +---------------------------------------------------------------------------------- +| alpha | 0.259 | +| eval/episode_length | 33.5 | +| eval/episode_length_std | 0.742 | +| eval/normalized_episode_reward | 2.32 | +| eval/normalized_episode_reward_std | 0.657 | +| loss/actor | -353 | +| loss/alpha | -0.958 | +| loss/critic | 15.4 | +| penalty/lcb_mean | 0.464 | +| penalty/lcb_std | 0.671 | +| rollout_info/dynamics_penalty_mean | 0.617 | +| rollout_info/dynamics_penalty_std | 0.343 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 50000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24928, reward mean: 3.3538 +num rollout transitions: 24923, reward mean: 3.3441 +num rollout transitions: 24939, reward mean: 3.3175 +num rollout transitions: 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2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24926, reward mean: 3.2785 +num rollout transitions: 24919, reward mean: 3.2310 +num rollout transitions: 24923, reward mean: 3.2908 +num rollout transitions: 24936, reward mean: 3.2902 +num rollout transitions: 24926, reward mean: 3.3105 +num rollout transitions: 24943, reward mean: 3.2806 +num rollout transitions: 24939, reward mean: 3.2885 +num rollout transitions: 24941, reward mean: 3.3096 +num rollout transitions: 24927, reward mean: 3.2865 +num rollout transitions: 24937, reward mean: 3.2900 +num rollout transitions: 24923, reward mean: 3.3046 +num rollout transitions: 24932, reward mean: 3.2825 +num rollout transitions: 24918, reward mean: 3.2918 +num rollout transitions: 24907, reward mean: 3.2903 +num rollout transitions: 24909, reward mean: 3.3185 +num rollout transitions: 24931, reward mean: 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eval/normalized_episode_reward | 2.66 | +| eval/normalized_episode_reward_std | 0.66 | +| loss/actor | -363 | +| loss/alpha | -0.0458 | +| loss/critic | 11.2 | +| penalty/lcb_mean | 0.297 | +| penalty/lcb_std | 0.523 | +| rollout_info/dynamics_penalty_mean | 0.245 | +| rollout_info/dynamics_penalty_std | 0.3 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.29 | +| timestep | 150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24944, reward mean: 3.2966 +num rollout transitions: 24912, reward mean: 3.3123 +num rollout transitions: 24945, reward mean: 3.2794 +num rollout transitions: 24943, reward mean: 3.2888 +num rollout transitions: 24907, reward mean: 3.3052 +num rollout transitions: 24952, reward mean: 3.2947 +num rollout transitions: 24945, reward mean: 3.3158 +num rollout transitions: 24951, reward mean: 3.2973 +num rollout transitions: 24898, reward mean: 3.2934 +num rollout 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3.3130 +num rollout transitions: 24911, reward mean: 3.3139 +num rollout transitions: 24954, reward mean: 3.2806 +num rollout transitions: 24923, reward mean: 3.3073 +---------------------------------------------------------------------------------- +| alpha | 0.0542 | +| eval/episode_length | 56.5 | +| eval/episode_length_std | 1.32 | +| eval/normalized_episode_reward | 3.81 | +| eval/normalized_episode_reward_std | 0.723 | +| loss/actor | -309 | +| loss/alpha | -0.0374 | +| loss/critic | 7.51 | +| penalty/lcb_mean | 0.219 | +| penalty/lcb_std | 0.388 | +| rollout_info/dynamics_penalty_mean | 0.174 | +| rollout_info/dynamics_penalty_std | 0.25 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.3 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24930, reward mean: 3.3068 +num rollout transitions: 24937, reward mean: 3.2745 +num rollout transitions: 24923, reward mean: 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reward mean: 3.3113 +num rollout transitions: 24946, reward mean: 3.3048 +num rollout transitions: 24942, reward mean: 3.3107 +num rollout transitions: 24930, reward mean: 3.3052 +num rollout transitions: 24922, reward mean: 3.3118 +num rollout transitions: 24910, reward mean: 3.3186 +num rollout transitions: 24916, reward mean: 3.3196 +num rollout transitions: 24949, reward mean: 3.3193 +num rollout transitions: 24915, reward mean: 3.3357 +num rollout transitions: 24945, reward mean: 3.3207 +---------------------------------------------------------------------------------- +| alpha | 0.0432 | +| eval/episode_length | 315 | +| eval/episode_length_std | 83.1 | +| eval/normalized_episode_reward | 31.6 | +| eval/normalized_episode_reward_std | 9.78 | +| loss/actor | -296 | +| loss/alpha | -0.0379 | +| loss/critic | 6.18 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.378 | +| rollout_info/dynamics_penalty_mean | 0.129 | +| rollout_info/dynamics_penalty_std | 0.222 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24928, reward mean: 3.3276 +num rollout transitions: 24922, reward mean: 3.3151 +num rollout transitions: 24942, reward mean: 3.3126 +num rollout transitions: 24940, reward mean: 3.3379 +num rollout transitions: 24926, reward mean: 3.3201 +num rollout transitions: 24923, reward mean: 3.3004 +num rollout transitions: 24924, reward mean: 3.2996 +num rollout transitions: 24897, reward mean: 3.3033 +num rollout transitions: 24933, reward mean: 3.2990 +num rollout transitions: 24948, reward mean: 3.2980 +num rollout transitions: 24913, reward mean: 3.3057 +num rollout transitions: 24939, reward mean: 3.3029 +num rollout transitions: 24902, reward mean: 3.2903 +num rollout transitions: 24949, reward mean: 3.3168 +num rollout transitions: 24938, reward mean: 3.2831 +num rollout 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rollout transitions: 24965, reward mean: 3.2910 +num rollout transitions: 24911, reward mean: 3.3216 +num rollout transitions: 24938, reward mean: 3.2935 +num rollout transitions: 24921, reward mean: 3.2834 +num rollout transitions: 24934, reward mean: 3.3144 +num rollout transitions: 24925, reward mean: 3.2948 +num rollout transitions: 24944, reward mean: 3.3121 +num rollout transitions: 24951, reward mean: 3.3337 +num rollout transitions: 24917, reward mean: 3.3162 +num rollout transitions: 24933, reward mean: 3.3069 +num rollout transitions: 24929, reward mean: 3.2864 +num rollout transitions: 24947, reward mean: 3.2856 +num rollout transitions: 24921, reward mean: 3.2777 +num rollout transitions: 24956, reward mean: 3.3188 +num rollout transitions: 24950, reward mean: 3.3277 +num rollout transitions: 24908, reward mean: 3.3073 +---------------------------------------------------------------------------------- +| alpha | 0.0348 | +| eval/episode_length | 69.7 | +| eval/episode_length_std | 0.717 | +| eval/normalized_episode_reward | 5.04 | +| eval/normalized_episode_reward_std | 0.668 | +| loss/actor | -301 | +| loss/alpha | 0.00199 | +| loss/critic | 6.56 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.356 | +| rollout_info/dynamics_penalty_mean | 0.13 | +| rollout_info/dynamics_penalty_std | 0.213 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24921, reward mean: 3.3133 +num rollout transitions: 24910, reward mean: 3.3024 +num rollout transitions: 24928, reward mean: 3.2815 +num rollout transitions: 24949, reward mean: 3.2875 +num rollout transitions: 24944, reward mean: 3.3067 +num rollout transitions: 24914, reward mean: 3.3101 +num rollout transitions: 24944, reward mean: 3.3019 +num rollout transitions: 24916, reward mean: 3.3095 +num rollout transitions: 24964, reward mean: 3.3111 +num rollout transitions: 24941, reward mean: 3.3150 +num rollout transitions: 24932, reward mean: 3.3165 +num rollout transitions: 24932, reward mean: 3.2967 +num rollout transitions: 24903, reward mean: 3.3384 +num rollout transitions: 24944, reward mean: 3.3366 +num rollout transitions: 24963, reward mean: 3.2945 +num rollout transitions: 24922, reward mean: 3.3203 +num rollout transitions: 24934, reward mean: 3.2940 +num rollout transitions: 24943, reward mean: 3.3164 +num rollout transitions: 24921, reward mean: 3.3210 +num rollout transitions: 24929, reward mean: 3.2787 +num rollout transitions: 24936, reward mean: 3.3078 +num rollout transitions: 24934, reward mean: 3.3139 +num rollout transitions: 24932, reward mean: 3.3024 +num rollout transitions: 24919, reward mean: 3.3131 +num rollout transitions: 24954, reward mean: 3.3081 +num rollout transitions: 24948, reward mean: 3.3200 +num rollout transitions: 24944, reward mean: 3.2867 +num rollout transitions: 24913, reward mean: 3.3014 +num rollout transitions: 24926, reward mean: 3.2735 +num rollout transitions: 24939, reward mean: 3.3264 +num rollout transitions: 24941, reward mean: 3.2880 +num rollout transitions: 24915, reward mean: 3.2711 +num rollout transitions: 24955, reward mean: 3.2937 +num rollout transitions: 24919, reward mean: 3.3012 +num rollout transitions: 24904, reward mean: 3.3406 +num rollout transitions: 24920, reward mean: 3.3220 +num rollout transitions: 24959, reward mean: 3.2983 +num rollout transitions: 24916, reward mean: 3.3140 +num rollout transitions: 24935, reward mean: 3.3136 +num rollout transitions: 24951, reward mean: 3.3232 +num rollout transitions: 24917, reward mean: 3.3249 +num rollout transitions: 24951, reward mean: 3.2924 +num rollout transitions: 24932, reward mean: 3.3180 +num rollout transitions: 24944, reward mean: 3.2708 +num rollout transitions: 24925, reward mean: 3.3299 +num rollout transitions: 24913, reward mean: 3.2926 +num rollout transitions: 24916, reward mean: 3.3038 +num rollout transitions: 24933, reward mean: 3.3110 +num rollout transitions: 24940, reward mean: 3.3358 +num rollout transitions: 24925, reward mean: 3.3165 +---------------------------------------------------------------------------------- +| alpha | 0.0349 | +| eval/episode_length | 969 | +| eval/episode_length_std | 111 | +| eval/normalized_episode_reward | 102 | +| eval/normalized_episode_reward_std | 11.9 | +| loss/actor | -301 | +| loss/alpha | -0.0107 | +| loss/critic | 6.31 | +| penalty/lcb_mean | 0.193 | +| penalty/lcb_std | 0.39 | +| rollout_info/dynamics_penalty_mean | 0.115 | +| rollout_info/dynamics_penalty_std | 0.203 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24969, reward mean: 3.3218 +num rollout transitions: 24929, reward mean: 3.2874 +num rollout transitions: 24941, reward mean: 3.3033 +num rollout transitions: 24945, reward mean: 3.3018 +num rollout transitions: 24924, reward mean: 3.3034 +num rollout transitions: 24926, reward mean: 3.3018 +num rollout transitions: 24945, reward mean: 3.2981 +num rollout transitions: 24934, reward mean: 3.2816 +num rollout transitions: 24900, reward mean: 3.2833 +num rollout transitions: 24946, reward mean: 3.3147 +num rollout transitions: 24923, reward mean: 3.2984 +num rollout transitions: 24934, reward mean: 3.2899 +num rollout transitions: 24931, reward mean: 3.3211 +num rollout transitions: 24917, reward mean: 3.2867 +num rollout transitions: 24930, reward mean: 3.3210 +num rollout transitions: 24910, reward mean: 3.3402 +num rollout transitions: 24925, reward mean: 3.2994 +num rollout transitions: 24949, reward mean: 3.2801 +num rollout transitions: 24945, reward mean: 3.2567 +num rollout transitions: 24919, reward mean: 3.2949 +num rollout transitions: 24932, reward mean: 3.3100 +num rollout transitions: 24935, reward mean: 3.2873 +num rollout transitions: 24949, reward mean: 3.2959 +num rollout transitions: 24927, reward mean: 3.2956 +num rollout transitions: 24914, reward mean: 3.3069 +num rollout transitions: 24950, reward mean: 3.3195 +num rollout transitions: 24937, reward mean: 3.2887 +num rollout transitions: 24935, reward mean: 3.3071 +num rollout transitions: 24932, reward mean: 3.3020 +num rollout transitions: 24931, reward mean: 3.3000 +num rollout transitions: 24918, reward mean: 3.3241 +num rollout transitions: 24926, reward mean: 3.3088 +num rollout transitions: 24947, reward mean: 3.3116 +num rollout transitions: 24948, reward mean: 3.3327 +num rollout transitions: 24953, reward mean: 3.3022 +num rollout transitions: 24939, reward mean: 3.2989 +num rollout transitions: 24959, reward mean: 3.3334 +num rollout transitions: 24955, reward mean: 3.3276 +num rollout transitions: 24927, reward mean: 3.3188 +num rollout transitions: 24956, reward mean: 3.2924 +num rollout transitions: 24927, reward mean: 3.3425 +num rollout transitions: 24955, reward mean: 3.2967 +num rollout transitions: 24928, reward mean: 3.2758 +num rollout transitions: 24946, reward mean: 3.3197 +num rollout transitions: 24932, reward mean: 3.3020 +num rollout transitions: 24933, reward mean: 3.2935 +num rollout transitions: 24924, reward mean: 3.2816 +num rollout transitions: 24920, reward mean: 3.3213 +num rollout transitions: 24920, reward mean: 3.3300 +num rollout transitions: 24934, reward mean: 3.3058 +---------------------------------------------------------------------------------- +| alpha | 0.0336 | +| eval/episode_length | 49.1 | +| eval/episode_length_std | 39.6 | +| eval/normalized_episode_reward | 3.34 | +| eval/normalized_episode_reward_std | 4.86 | +| loss/actor | -299 | +| loss/alpha | 0.00788 | +| loss/critic | 5.93 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.406 | +| rollout_info/dynamics_penalty_mean | 0.101 | +| rollout_info/dynamics_penalty_std | 0.187 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.3 | +| timestep | 400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24955, reward mean: 3.3007 +num rollout transitions: 24924, reward mean: 3.3010 +num rollout transitions: 24929, reward mean: 3.3344 +num rollout transitions: 24951, reward mean: 3.2896 +num rollout transitions: 24941, reward mean: 3.2966 +num rollout transitions: 24903, reward mean: 3.3122 +num rollout transitions: 24942, reward mean: 3.3041 +num rollout transitions: 24917, reward mean: 3.2987 +num rollout transitions: 24929, reward mean: 3.2980 +num rollout transitions: 24888, reward mean: 3.3040 +num rollout transitions: 24925, reward mean: 3.3084 +num rollout transitions: 24919, reward mean: 3.3051 +num rollout transitions: 24930, reward mean: 3.3009 +num rollout transitions: 24918, reward mean: 3.3058 +num rollout transitions: 24922, reward mean: 3.2946 +num rollout transitions: 24904, reward mean: 3.3134 +num rollout transitions: 24936, reward mean: 3.3336 +num rollout transitions: 24903, reward mean: 3.3214 +num rollout transitions: 24930, reward mean: 3.3172 +num rollout transitions: 24945, reward mean: 3.3119 +num rollout transitions: 24955, reward mean: 3.3172 +num rollout transitions: 24919, reward mean: 3.3269 +num rollout transitions: 24952, reward mean: 3.3095 +num rollout transitions: 24930, reward mean: 3.2914 +num rollout transitions: 24922, reward mean: 3.3091 +num rollout transitions: 24931, reward mean: 3.3031 +num rollout transitions: 24946, reward mean: 3.3258 +num rollout transitions: 24945, reward mean: 3.3110 +num rollout transitions: 24940, reward mean: 3.2949 +num rollout transitions: 24935, reward mean: 3.3245 +num rollout transitions: 24952, reward mean: 3.3123 +num rollout transitions: 24940, reward mean: 3.3028 +num rollout transitions: 24938, reward mean: 3.2910 +num rollout transitions: 24937, reward mean: 3.3083 +num rollout transitions: 24925, reward mean: 3.3336 +num rollout transitions: 24934, reward mean: 3.3269 +num rollout transitions: 24942, reward mean: 3.3066 +num rollout transitions: 24964, reward mean: 3.2991 +num rollout transitions: 24928, reward mean: 3.3168 +num rollout transitions: 24921, reward mean: 3.3313 +num rollout transitions: 24927, reward mean: 3.3161 +num rollout transitions: 24922, reward mean: 3.3031 +num rollout transitions: 24897, reward mean: 3.3017 +num rollout transitions: 24920, reward mean: 3.3028 +num rollout transitions: 24945, reward mean: 3.2974 +num rollout transitions: 24927, reward mean: 3.3115 +num rollout transitions: 24944, reward mean: 3.3291 +num rollout transitions: 24921, reward mean: 3.3243 +num rollout transitions: 24920, reward mean: 3.3103 +num rollout transitions: 24921, reward mean: 3.3409 +---------------------------------------------------------------------------------- +| alpha | 0.0331 | +| eval/episode_length | 260 | +| eval/episode_length_std | 29.9 | +| eval/normalized_episode_reward | 25.4 | +| eval/normalized_episode_reward_std | 4.01 | +| loss/actor | -299 | +| loss/alpha | -0.0108 | +| loss/critic | 6.21 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.391 | +| rollout_info/dynamics_penalty_mean | 0.104 | +| rollout_info/dynamics_penalty_std | 0.191 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24935, reward mean: 3.3338 +num rollout transitions: 24923, reward mean: 3.3261 +num rollout transitions: 24912, reward mean: 3.3354 +num rollout transitions: 24910, reward mean: 3.3207 +num rollout transitions: 24944, reward mean: 3.3139 +num rollout transitions: 24930, reward mean: 3.3132 +num rollout transitions: 24924, reward mean: 3.3529 +num rollout transitions: 24918, reward mean: 3.3015 +num rollout transitions: 24944, reward mean: 3.3038 +num rollout transitions: 24954, reward mean: 3.3099 +num rollout transitions: 24929, reward mean: 3.3098 +num rollout transitions: 24946, reward mean: 3.3338 +num rollout transitions: 24946, reward mean: 3.3084 +num rollout transitions: 24916, reward mean: 3.3049 +num rollout transitions: 24907, reward mean: 3.2660 +num rollout transitions: 24940, reward mean: 3.2961 +num rollout transitions: 24948, reward mean: 3.3085 +num rollout transitions: 24914, reward mean: 3.2999 +num rollout transitions: 24946, reward mean: 3.3083 +num rollout transitions: 24930, reward mean: 3.2853 +num rollout transitions: 24935, reward mean: 3.3166 +num rollout transitions: 24943, reward mean: 3.2976 +num rollout transitions: 24939, reward mean: 3.3455 +num rollout transitions: 24956, reward mean: 3.2975 +num rollout transitions: 24918, reward mean: 3.3291 +num rollout transitions: 24910, reward mean: 3.3351 +num rollout transitions: 24938, reward mean: 3.3063 +num rollout transitions: 24942, reward mean: 3.2957 +num rollout transitions: 24953, reward mean: 3.3330 +num rollout transitions: 24943, reward mean: 3.3153 +num rollout transitions: 24954, reward mean: 3.3277 +num rollout transitions: 24924, reward mean: 3.3210 +num rollout transitions: 24951, reward mean: 3.2900 +num rollout transitions: 24932, reward mean: 3.3433 +num rollout transitions: 24961, reward mean: 3.3326 +num rollout transitions: 24912, reward mean: 3.3100 +num rollout transitions: 24923, reward mean: 3.3067 +num rollout transitions: 24910, reward mean: 3.3361 +num rollout transitions: 24935, reward mean: 3.3251 +num rollout transitions: 24913, reward mean: 3.3383 +num rollout transitions: 24944, reward mean: 3.3344 +num rollout transitions: 24957, reward mean: 3.2885 +num rollout transitions: 24940, reward mean: 3.3139 +num rollout transitions: 24943, reward mean: 3.3093 +num rollout transitions: 24940, reward mean: 3.3035 +num rollout transitions: 24931, reward mean: 3.3330 +num rollout transitions: 24930, reward mean: 3.3166 +num rollout transitions: 24902, reward mean: 3.3051 +num rollout transitions: 24936, reward mean: 3.2959 +num rollout transitions: 24925, reward mean: 3.3044 +---------------------------------------------------------------------------------- +| alpha | 0.0306 | +| eval/episode_length | 257 | +| eval/episode_length_std | 41 | +| eval/normalized_episode_reward | 26.3 | +| eval/normalized_episode_reward_std | 5.39 | +| loss/actor | -301 | +| loss/alpha | -0.00301 | +| loss/critic | 4.51 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.381 | +| rollout_info/dynamics_penalty_mean | 0.116 | +| rollout_info/dynamics_penalty_std | 0.209 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24919, reward mean: 3.3200 +num rollout transitions: 24940, reward mean: 3.3376 +num rollout transitions: 24918, reward mean: 3.3371 +num rollout transitions: 24936, reward mean: 3.3275 +num rollout transitions: 24917, reward mean: 3.3165 +num rollout transitions: 24923, reward mean: 3.3139 +num rollout transitions: 24917, reward mean: 3.3345 +num rollout transitions: 24930, reward mean: 3.2984 +num rollout transitions: 24933, reward mean: 3.2771 +num rollout transitions: 24953, reward mean: 3.3218 +num rollout transitions: 24957, reward mean: 3.3492 +num rollout transitions: 24940, reward mean: 3.3576 +num rollout transitions: 24930, reward mean: 3.3143 +num rollout transitions: 24921, reward mean: 3.3221 +num rollout transitions: 24941, reward mean: 3.3460 +num rollout transitions: 24936, reward mean: 3.3302 +num rollout transitions: 24933, reward mean: 3.3315 +num rollout transitions: 24922, reward mean: 3.2959 +num rollout transitions: 24941, reward mean: 3.2988 +num rollout transitions: 24927, reward mean: 3.3216 +num rollout transitions: 24937, reward mean: 3.3133 +num rollout transitions: 24934, reward mean: 3.2951 +num rollout transitions: 24937, reward mean: 3.3078 +num rollout transitions: 24920, reward mean: 3.3014 +num rollout transitions: 24937, reward mean: 3.3347 +num rollout transitions: 24949, reward mean: 3.2538 +num rollout transitions: 24932, reward mean: 3.3645 +num rollout transitions: 24958, reward mean: 3.2893 +num rollout transitions: 24931, reward mean: 3.3173 +num rollout transitions: 24935, reward mean: 3.3138 +num rollout transitions: 24924, reward mean: 3.3152 +num rollout transitions: 24935, reward mean: 3.3178 +num rollout transitions: 24926, reward mean: 3.3034 +num rollout transitions: 24920, reward mean: 3.3125 +num rollout transitions: 24930, reward mean: 3.2754 +num rollout transitions: 24946, reward mean: 3.3018 +num rollout transitions: 24928, reward mean: 3.3207 +num rollout transitions: 24931, reward mean: 3.3133 +num rollout transitions: 24930, reward mean: 3.2851 +num rollout transitions: 24935, reward mean: 3.3159 +num rollout transitions: 24942, reward mean: 3.3107 +num rollout transitions: 24937, reward mean: 3.3113 +num rollout transitions: 24935, reward mean: 3.3115 +num rollout transitions: 24911, reward mean: 3.3363 +num rollout transitions: 24935, reward mean: 3.3149 +num rollout transitions: 24933, reward mean: 3.2981 +num rollout transitions: 24927, reward mean: 3.3095 +num rollout transitions: 24946, reward mean: 3.2993 +num rollout transitions: 24948, reward mean: 3.2928 +num rollout transitions: 24917, reward mean: 3.3114 +---------------------------------------------------------------------------------- +| alpha | 0.0285 | +| eval/episode_length | 248 | +| eval/episode_length_std | 37.7 | +| eval/normalized_episode_reward | 25.4 | +| eval/normalized_episode_reward_std | 5.09 | +| loss/actor | -306 | +| loss/alpha | 0.00637 | +| loss/critic | 4.81 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.38 | +| rollout_info/dynamics_penalty_mean | 0.129 | +| rollout_info/dynamics_penalty_std | 0.222 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24942, reward mean: 3.2861 +num rollout transitions: 24897, reward mean: 3.3355 +num rollout transitions: 24946, reward mean: 3.3300 +num rollout transitions: 24943, reward mean: 3.2990 +num rollout transitions: 24967, reward mean: 3.3061 +num rollout transitions: 24899, reward mean: 3.3098 +num rollout transitions: 24930, reward mean: 3.2891 +num rollout transitions: 24950, reward mean: 3.3206 +num rollout transitions: 24919, reward mean: 3.3032 +num rollout transitions: 24923, reward mean: 3.3162 +num rollout transitions: 24943, reward mean: 3.3131 +num rollout transitions: 24949, reward mean: 3.2917 +num rollout transitions: 24914, reward mean: 3.3266 +num rollout transitions: 24930, reward mean: 3.3112 +num rollout transitions: 24896, reward mean: 3.3489 +num rollout transitions: 24932, reward mean: 3.3232 +num rollout transitions: 24937, reward mean: 3.3148 +num rollout transitions: 24919, reward mean: 3.3060 +num rollout transitions: 24918, reward mean: 3.3120 +num rollout transitions: 24933, reward mean: 3.3089 +num rollout transitions: 24910, reward mean: 3.3112 +num rollout transitions: 24950, reward mean: 3.3325 +num rollout transitions: 24949, reward mean: 3.3063 +num rollout transitions: 24902, reward mean: 3.2899 +num rollout transitions: 24932, reward mean: 3.2863 +num rollout transitions: 24926, reward mean: 3.3013 +num rollout transitions: 24927, reward mean: 3.2980 +num rollout transitions: 24935, reward mean: 3.3411 +num rollout transitions: 24927, reward mean: 3.3009 +num rollout transitions: 24930, reward mean: 3.3047 +num rollout transitions: 24918, reward mean: 3.3243 +num rollout transitions: 24932, reward mean: 3.3144 +num rollout transitions: 24941, reward mean: 3.3211 +num rollout transitions: 24937, reward mean: 3.2908 +num rollout transitions: 24939, reward mean: 3.3150 +num rollout transitions: 24921, reward mean: 3.3136 +num rollout transitions: 24939, reward mean: 3.3134 +num rollout transitions: 24923, reward mean: 3.3158 +num rollout transitions: 24941, reward mean: 3.3177 +num rollout transitions: 24925, reward mean: 3.2964 +num rollout transitions: 24919, reward mean: 3.3182 +num rollout transitions: 24941, reward mean: 3.3287 +num rollout transitions: 24932, reward mean: 3.3261 +num rollout transitions: 24952, reward mean: 3.3310 +num rollout transitions: 24945, reward mean: 3.2721 +num rollout transitions: 24938, reward mean: 3.3013 +num rollout transitions: 24939, reward mean: 3.3045 +num rollout transitions: 24939, reward mean: 3.3114 +num rollout transitions: 24934, reward mean: 3.3267 +num rollout transitions: 24953, reward mean: 3.2898 +---------------------------------------------------------------------------------- +| alpha | 0.0295 | +| eval/episode_length | 319 | +| eval/episode_length_std | 0.677 | +| eval/normalized_episode_reward | 33.1 | +| eval/normalized_episode_reward_std | 0.701 | +| loss/actor | -304 | +| loss/alpha | 0.0138 | +| loss/critic | 4.32 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.409 | +| rollout_info/dynamics_penalty_mean | 0.0982 | +| rollout_info/dynamics_penalty_std | 0.183 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24921, reward mean: 3.2874 +num rollout transitions: 24929, reward mean: 3.2832 +num rollout transitions: 24945, reward mean: 3.3220 +num rollout transitions: 24938, reward mean: 3.2797 +num rollout transitions: 24929, reward mean: 3.3004 +num rollout transitions: 24929, reward mean: 3.3069 +num rollout transitions: 24941, reward mean: 3.3242 +num rollout transitions: 24938, reward mean: 3.2966 +num rollout transitions: 24932, reward mean: 3.3208 +num rollout transitions: 24930, reward mean: 3.3182 +num rollout transitions: 24949, reward mean: 3.3069 +num rollout transitions: 24929, reward mean: 3.3063 +num rollout transitions: 24937, reward mean: 3.3241 +num rollout transitions: 24924, reward mean: 3.3085 +num rollout transitions: 24906, reward mean: 3.3043 +num rollout transitions: 24928, reward mean: 3.3075 +num rollout transitions: 24929, reward mean: 3.3116 +num rollout transitions: 24935, reward mean: 3.3239 +num rollout transitions: 24916, reward mean: 3.2948 +num rollout transitions: 24949, reward mean: 3.3194 +num rollout transitions: 24937, reward mean: 3.3255 +num rollout transitions: 24934, reward mean: 3.3004 +num rollout transitions: 24948, reward mean: 3.3070 +num rollout transitions: 24946, reward mean: 3.3073 +num rollout transitions: 24939, reward mean: 3.3345 +num rollout transitions: 24950, reward mean: 3.3012 +num rollout transitions: 24943, reward mean: 3.3071 +num rollout transitions: 24932, reward mean: 3.3182 +num rollout transitions: 24925, reward mean: 3.3292 +num rollout transitions: 24957, reward mean: 3.3151 +num rollout transitions: 24932, reward mean: 3.3170 +num rollout transitions: 24934, reward mean: 3.3060 +num rollout transitions: 24926, reward mean: 3.2995 +num rollout transitions: 24933, reward mean: 3.3008 +num rollout transitions: 24937, reward mean: 3.3097 +num rollout transitions: 24908, reward mean: 3.2919 +num rollout transitions: 24909, reward mean: 3.3211 +num rollout transitions: 24947, reward mean: 3.3033 +num rollout transitions: 24934, reward mean: 3.3032 +num rollout transitions: 24950, reward mean: 3.3106 +num rollout transitions: 24932, reward mean: 3.3313 +num rollout transitions: 24929, reward mean: 3.3221 +num rollout transitions: 24947, reward mean: 3.3243 +num rollout transitions: 24893, reward mean: 3.3049 +num rollout transitions: 24938, reward mean: 3.3194 +num rollout transitions: 24918, reward mean: 3.3451 +num rollout transitions: 24920, reward mean: 3.3104 +num rollout transitions: 24935, reward mean: 3.3103 +num rollout transitions: 24929, reward mean: 3.3146 +num rollout transitions: 24931, reward mean: 3.3220 +---------------------------------------------------------------------------------- +| alpha | 0.0299 | +| eval/episode_length | 366 | +| eval/episode_length_std | 116 | +| eval/normalized_episode_reward | 38.6 | +| eval/normalized_episode_reward_std | 13.9 | +| loss/actor | -302 | +| loss/alpha | 0.000863 | +| loss/critic | 4.78 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.422 | +| rollout_info/dynamics_penalty_mean | 0.0954 | +| rollout_info/dynamics_penalty_std | 0.18 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24933, reward mean: 3.3003 +num rollout transitions: 24954, reward mean: 3.3099 +num rollout transitions: 24915, reward mean: 3.3277 +num rollout transitions: 24963, reward mean: 3.3310 +num rollout transitions: 24919, reward mean: 3.3329 +num rollout transitions: 24929, reward mean: 3.3203 +num rollout transitions: 24937, reward mean: 3.3049 +num rollout transitions: 24942, reward mean: 3.3078 +num rollout transitions: 24942, reward mean: 3.3316 +num rollout transitions: 24947, reward mean: 3.3116 +num rollout transitions: 24933, reward mean: 3.3162 +num rollout transitions: 24949, reward mean: 3.3023 +num rollout transitions: 24927, reward mean: 3.3201 +num rollout transitions: 24920, reward mean: 3.3418 +num rollout transitions: 24926, reward mean: 3.3011 +num rollout transitions: 24935, reward mean: 3.2964 +num rollout transitions: 24927, reward mean: 3.3125 +num rollout transitions: 24919, reward mean: 3.2915 +num rollout transitions: 24908, reward mean: 3.3178 +num rollout transitions: 24927, reward mean: 3.3307 +num rollout transitions: 24942, reward 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reward mean: 3.3254 +num rollout transitions: 24935, reward mean: 3.2984 +num rollout transitions: 24901, reward mean: 3.3004 +num rollout transitions: 24916, reward mean: 3.3143 +num rollout transitions: 24957, reward mean: 3.2984 +num rollout transitions: 24923, reward mean: 3.3098 +num rollout transitions: 24911, reward mean: 3.3054 +num rollout transitions: 24933, reward mean: 3.3127 +num rollout transitions: 24943, reward mean: 3.3042 +num rollout transitions: 24938, reward mean: 3.3197 +num rollout transitions: 24956, reward mean: 3.3120 +---------------------------------------------------------------------------------- +| alpha | 0.0293 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 1.11 | +| loss/actor | -303 | +| loss/alpha | -0.0065 | +| loss/critic | 5.62 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.424 | +| rollout_info/dynamics_penalty_mean | 0.101 | +| rollout_info/dynamics_penalty_std | 0.184 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24927, reward mean: 3.3386 +num rollout transitions: 24939, reward mean: 3.3034 +num rollout transitions: 24939, reward mean: 3.3243 +num rollout transitions: 24932, reward mean: 3.3100 +num rollout transitions: 24934, reward mean: 3.3069 +num rollout transitions: 24923, reward mean: 3.3109 +num rollout transitions: 24948, reward mean: 3.3083 +num rollout transitions: 24943, reward mean: 3.3100 +num rollout transitions: 24954, reward mean: 3.3278 +num rollout transitions: 24958, reward mean: 3.3022 +num rollout transitions: 24939, reward mean: 3.3352 +num rollout transitions: 24947, reward mean: 3.3065 +num rollout transitions: 24916, reward mean: 3.3083 +num rollout transitions: 24909, reward mean: 3.2754 +num rollout transitions: 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transitions: 24942, reward mean: 3.3232 +num rollout transitions: 24916, reward mean: 3.2876 +num rollout transitions: 24965, reward mean: 3.3029 +num rollout transitions: 24926, reward mean: 3.3320 +num rollout transitions: 24933, reward mean: 3.3226 +num rollout transitions: 24938, reward mean: 3.2929 +num rollout transitions: 24942, reward mean: 3.3036 +num rollout transitions: 24939, reward mean: 3.2942 +num rollout transitions: 24917, reward mean: 3.3055 +num rollout transitions: 24927, reward mean: 3.3312 +num rollout transitions: 24944, reward mean: 3.3078 +num rollout transitions: 24928, reward mean: 3.3354 +num rollout transitions: 24944, reward mean: 3.3035 +num rollout transitions: 24957, reward mean: 3.3378 +num rollout transitions: 24932, reward mean: 3.3213 +num rollout transitions: 24944, reward mean: 3.3283 +num rollout transitions: 24934, reward mean: 3.3100 +---------------------------------------------------------------------------------- +| alpha | 0.0291 | +| eval/episode_length | 129 | +| eval/episode_length_std | 0.605 | +| eval/normalized_episode_reward | 10.7 | +| eval/normalized_episode_reward_std | 0.665 | +| loss/actor | -303 | +| loss/alpha | 0.012 | +| loss/critic | 5.59 | +| penalty/lcb_mean | 0.211 | +| penalty/lcb_std | 0.441 | +| rollout_info/dynamics_penalty_mean | 0.0895 | +| rollout_info/dynamics_penalty_std | 0.176 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24939, reward mean: 3.3148 +num rollout transitions: 24937, reward mean: 3.3053 +num rollout transitions: 24923, reward mean: 3.3157 +num rollout transitions: 24927, reward mean: 3.3437 +num rollout transitions: 24937, reward mean: 3.3311 +num rollout transitions: 24926, reward mean: 3.3092 +num rollout transitions: 24933, reward mean: 3.3295 +num rollout transitions: 24939, reward mean: 3.2949 +num 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3.2984 +num rollout transitions: 24926, reward mean: 3.3127 +num rollout transitions: 24937, reward mean: 3.3050 +num rollout transitions: 24915, reward mean: 3.3148 +num rollout transitions: 24938, reward mean: 3.2971 +num rollout transitions: 24918, reward mean: 3.3076 +num rollout transitions: 24919, reward mean: 3.3156 +num rollout transitions: 24951, reward mean: 3.3205 +num rollout transitions: 24922, reward mean: 3.3019 +num rollout transitions: 24927, reward mean: 3.3096 +num rollout transitions: 24928, reward mean: 3.2902 +num rollout transitions: 24948, reward mean: 3.3128 +num rollout transitions: 24904, reward mean: 3.3188 +num rollout transitions: 24940, reward mean: 3.3140 +num rollout transitions: 24937, reward mean: 3.3170 +num rollout transitions: 24933, reward mean: 3.3167 +num rollout transitions: 24923, reward mean: 3.2808 +num rollout transitions: 24953, reward mean: 3.3408 +num rollout transitions: 24927, reward mean: 3.3283 +num rollout transitions: 24916, reward mean: 3.3022 +num rollout transitions: 24910, reward mean: 3.3292 +num rollout transitions: 24940, reward mean: 3.3150 +num rollout transitions: 24913, reward mean: 3.3173 +num rollout transitions: 24947, reward mean: 3.3104 +---------------------------------------------------------------------------------- +| alpha | 0.0301 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 107 | +| eval/normalized_episode_reward_std | 0.867 | +| loss/actor | -303 | +| loss/alpha | 0.0179 | +| loss/critic | 4.67 | +| penalty/lcb_mean | 0.211 | +| penalty/lcb_std | 0.445 | +| rollout_info/dynamics_penalty_mean | 0.0873 | +| rollout_info/dynamics_penalty_std | 0.173 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24953, reward mean: 3.2974 +num rollout transitions: 24938, reward mean: 3.3163 +num rollout transitions: 24931, reward mean: 3.3155 +num rollout transitions: 24942, reward mean: 3.3184 +num rollout transitions: 24942, reward mean: 3.2725 +num rollout transitions: 24941, reward mean: 3.3040 +num rollout transitions: 24931, reward mean: 3.3080 +num rollout transitions: 24923, reward mean: 3.3048 +num rollout transitions: 24934, reward mean: 3.3214 +num rollout transitions: 24931, reward mean: 3.3043 +num rollout transitions: 24953, reward mean: 3.3111 +num rollout transitions: 24897, reward mean: 3.3076 +num rollout transitions: 24934, reward mean: 3.3170 +num rollout transitions: 24918, reward mean: 3.2851 +num rollout transitions: 24942, reward mean: 3.3018 +num rollout transitions: 24919, reward mean: 3.3243 +num rollout transitions: 24937, reward mean: 3.3078 +num rollout transitions: 24926, reward mean: 3.3071 +num rollout transitions: 24921, reward mean: 3.2674 +num rollout transitions: 24926, reward mean: 3.3115 +num rollout transitions: 24933, reward 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reward mean: 3.2988 +num rollout transitions: 24938, reward mean: 3.2861 +num rollout transitions: 24944, reward mean: 3.3341 +num rollout transitions: 24918, reward mean: 3.3189 +num rollout transitions: 24943, reward mean: 3.2941 +num rollout transitions: 24948, reward mean: 3.3174 +num rollout transitions: 24949, reward mean: 3.3021 +num rollout transitions: 24914, reward mean: 3.3126 +num rollout transitions: 24937, reward mean: 3.2946 +num rollout transitions: 24913, reward mean: 3.3184 +num rollout transitions: 24941, reward mean: 3.3030 +---------------------------------------------------------------------------------- +| alpha | 0.0297 | +| eval/episode_length | 386 | +| eval/episode_length_std | 216 | +| eval/normalized_episode_reward | 39.9 | +| eval/normalized_episode_reward_std | 24 | +| loss/actor | -301 | +| loss/alpha | -0.00309 | +| loss/critic | 4.29 | +| penalty/lcb_mean | 0.217 | +| penalty/lcb_std | 0.449 | +| rollout_info/dynamics_penalty_mean | 0.0837 | +| rollout_info/dynamics_penalty_std | 0.168 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24923, reward mean: 3.3052 +num rollout transitions: 24930, reward mean: 3.2998 +num rollout transitions: 24916, reward mean: 3.2944 +num rollout transitions: 24938, reward mean: 3.3068 +num rollout transitions: 24951, reward mean: 3.3130 +num rollout transitions: 24916, reward mean: 3.3037 +num rollout transitions: 24949, reward mean: 3.2866 +num rollout transitions: 24927, reward mean: 3.2843 +num rollout transitions: 24907, reward mean: 3.3081 +num rollout transitions: 24943, reward mean: 3.3201 +num rollout transitions: 24924, reward mean: 3.3267 +num rollout transitions: 24917, reward mean: 3.3345 +num rollout transitions: 24945, reward mean: 3.3153 +num rollout transitions: 24941, reward mean: 3.3336 +num rollout transitions: 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transitions: 24934, reward mean: 3.3290 +num rollout transitions: 24912, reward mean: 3.3060 +num rollout transitions: 24940, reward mean: 3.3143 +num rollout transitions: 24931, reward mean: 3.3104 +num rollout transitions: 24925, reward mean: 3.3245 +num rollout transitions: 24915, reward mean: 3.3327 +num rollout transitions: 24944, reward mean: 3.2990 +num rollout transitions: 24944, reward mean: 3.3311 +num rollout transitions: 24924, reward mean: 3.3235 +num rollout transitions: 24937, reward mean: 3.3001 +num rollout transitions: 24935, reward mean: 3.2939 +num rollout transitions: 24959, reward mean: 3.2944 +num rollout transitions: 24919, reward mean: 3.2998 +num rollout transitions: 24941, reward mean: 3.3204 +num rollout transitions: 24934, reward mean: 3.3254 +num rollout transitions: 24907, reward mean: 3.2982 +num rollout transitions: 24927, reward mean: 3.3147 +---------------------------------------------------------------------------------- +| alpha | 0.029 | +| eval/episode_length | 378 | +| eval/episode_length_std | 95.9 | +| eval/normalized_episode_reward | 40.7 | +| eval/normalized_episode_reward_std | 12.1 | +| loss/actor | -302 | +| loss/alpha | 0.012 | +| loss/critic | 5.13 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.443 | +| rollout_info/dynamics_penalty_mean | 0.0803 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24940, reward mean: 3.3459 +num rollout transitions: 24897, reward mean: 3.3022 +num rollout transitions: 24946, reward mean: 3.3152 +num rollout transitions: 24951, reward mean: 3.3327 +num rollout transitions: 24916, reward mean: 3.3034 +num rollout transitions: 24925, reward mean: 3.3019 +num rollout transitions: 24935, reward mean: 3.3281 +num rollout transitions: 24941, reward mean: 3.2930 +num rollout transitions: 24944, reward mean: 3.2970 +num rollout transitions: 24931, reward mean: 3.2914 +num rollout transitions: 24928, reward mean: 3.3134 +num rollout transitions: 24939, reward mean: 3.3141 +num rollout transitions: 24914, reward mean: 3.3184 +num rollout transitions: 24928, reward mean: 3.3194 +num rollout transitions: 24929, reward mean: 3.3007 +num rollout transitions: 24948, reward mean: 3.2874 +num rollout transitions: 24952, reward mean: 3.3128 +num rollout transitions: 24952, reward mean: 3.3273 +num rollout transitions: 24937, reward mean: 3.3127 +num rollout transitions: 24933, reward mean: 3.2923 +num rollout transitions: 24943, reward mean: 3.3139 +num rollout transitions: 24908, reward mean: 3.3125 +num rollout transitions: 24929, reward mean: 3.3076 +num rollout transitions: 24962, reward mean: 3.3251 +num rollout transitions: 24923, reward mean: 3.3201 +num rollout transitions: 24936, reward mean: 3.2940 +num rollout transitions: 24911, reward mean: 3.3085 +num rollout transitions: 24927, reward mean: 3.2855 +num rollout transitions: 24924, reward mean: 3.3270 +num rollout transitions: 24942, reward mean: 3.2951 +num rollout transitions: 24937, reward mean: 3.2863 +num rollout transitions: 24925, reward mean: 3.3119 +num rollout transitions: 24870, reward mean: 3.3259 +num rollout transitions: 24941, reward mean: 3.3215 +num rollout transitions: 24953, reward mean: 3.3137 +num rollout transitions: 24954, reward mean: 3.3297 +num rollout transitions: 24926, reward mean: 3.3150 +num rollout transitions: 24919, reward mean: 3.3130 +num rollout transitions: 24922, reward mean: 3.3071 +num rollout transitions: 24935, reward mean: 3.2959 +num rollout transitions: 24934, reward mean: 3.3337 +num rollout transitions: 24913, reward mean: 3.3336 +num rollout transitions: 24934, reward mean: 3.3008 +num rollout transitions: 24939, reward mean: 3.3371 +num rollout transitions: 24953, reward mean: 3.3026 +num rollout transitions: 24896, reward mean: 3.3131 +num rollout transitions: 24938, reward mean: 3.3164 +num rollout transitions: 24937, reward mean: 3.3227 +num rollout transitions: 24909, reward mean: 3.3207 +num rollout transitions: 24928, reward mean: 3.3228 +---------------------------------------------------------------------------------- +| alpha | 0.0288 | +| eval/episode_length | 277 | +| eval/episode_length_std | 50.7 | +| eval/normalized_episode_reward | 28.4 | +| eval/normalized_episode_reward_std | 6.64 | +| loss/actor | -303 | +| loss/alpha | -0.00484 | +| loss/critic | 3.77 | +| penalty/lcb_mean | 0.208 | +| penalty/lcb_std | 0.446 | +| rollout_info/dynamics_penalty_mean | 0.0791 | +| rollout_info/dynamics_penalty_std | 0.161 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24920, reward mean: 3.3053 +num rollout transitions: 24942, reward mean: 3.3108 +num rollout transitions: 24950, reward mean: 3.2931 +num rollout transitions: 24938, reward mean: 3.3009 +num rollout transitions: 24941, reward mean: 3.3229 +num rollout transitions: 24935, reward mean: 3.3085 +num rollout transitions: 24923, reward mean: 3.2981 +num rollout transitions: 24929, reward mean: 3.3351 +num rollout transitions: 24942, reward mean: 3.3034 +num rollout transitions: 24920, reward mean: 3.3307 +num rollout transitions: 24930, reward mean: 3.3454 +num rollout transitions: 24940, reward mean: 3.3256 +num rollout transitions: 24954, reward mean: 3.2985 +num rollout transitions: 24946, reward mean: 3.3245 +num rollout transitions: 24956, reward mean: 3.3222 +num rollout transitions: 24913, reward mean: 3.3153 +num rollout transitions: 24924, reward mean: 3.2962 +num rollout transitions: 24917, reward mean: 3.3095 +num rollout transitions: 24911, reward mean: 3.3105 +num rollout transitions: 24936, reward mean: 3.3326 +num rollout transitions: 24939, reward mean: 3.3132 +num rollout transitions: 24920, reward mean: 3.3122 +num rollout transitions: 24950, reward mean: 3.3220 +num rollout transitions: 24917, reward mean: 3.3307 +num rollout transitions: 24923, reward mean: 3.3261 +num rollout transitions: 24939, reward mean: 3.3192 +num rollout transitions: 24937, reward mean: 3.3197 +num rollout transitions: 24918, reward mean: 3.3025 +num rollout transitions: 24944, reward mean: 3.2949 +num rollout transitions: 24950, reward mean: 3.3143 +num rollout transitions: 24945, reward mean: 3.3147 +num rollout transitions: 24948, reward mean: 3.3177 +num rollout transitions: 24926, reward mean: 3.3361 +num rollout transitions: 24934, reward mean: 3.3106 +num rollout transitions: 24950, reward mean: 3.3182 +num rollout transitions: 24926, reward mean: 3.2966 +num rollout transitions: 24900, reward mean: 3.2889 +num rollout transitions: 24932, reward mean: 3.3191 +num rollout transitions: 24910, reward mean: 3.2876 +num rollout transitions: 24943, reward mean: 3.2803 +num rollout transitions: 24897, reward mean: 3.3192 +num rollout transitions: 24932, reward mean: 3.3351 +num rollout transitions: 24929, reward mean: 3.2748 +num rollout transitions: 24947, reward mean: 3.3142 +num rollout transitions: 24909, reward mean: 3.3195 +num rollout transitions: 24910, reward mean: 3.3410 +num rollout transitions: 24938, reward mean: 3.3336 +num rollout transitions: 24928, reward mean: 3.3017 +num rollout transitions: 24937, reward mean: 3.3320 +num rollout transitions: 24927, reward mean: 3.3464 +---------------------------------------------------------------------------------- +| alpha | 0.0294 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.905 | +| loss/actor | -302 | +| loss/alpha | 0.00371 | +| loss/critic | 4.48 | +| penalty/lcb_mean | 0.22 | +| penalty/lcb_std | 0.461 | +| rollout_info/dynamics_penalty_mean | 0.0807 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24908, reward mean: 3.3438 +num rollout transitions: 24950, reward mean: 3.3213 +num rollout transitions: 24933, reward mean: 3.3337 +num rollout transitions: 24926, reward mean: 3.2894 +num rollout transitions: 24945, reward mean: 3.3059 +num rollout transitions: 24944, reward mean: 3.2803 +num rollout transitions: 24933, reward mean: 3.3305 +num rollout transitions: 24923, reward mean: 3.3157 +num rollout transitions: 24915, reward mean: 3.3219 +num rollout transitions: 24958, reward mean: 3.3017 +num rollout transitions: 24939, reward mean: 3.2855 +num rollout transitions: 24928, reward mean: 3.2985 +num rollout transitions: 24919, reward mean: 3.2984 +num rollout transitions: 24922, reward mean: 3.2919 +num rollout 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eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.986 | +| loss/actor | -300 | +| loss/alpha | -0.011 | +| loss/critic | 4.84 | +| penalty/lcb_mean | 0.223 | +| penalty/lcb_std | 0.458 | +| rollout_info/dynamics_penalty_mean | 0.0898 | +| rollout_info/dynamics_penalty_std | 0.177 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24924, reward mean: 3.3128 +num rollout transitions: 24920, reward mean: 3.3032 +num rollout transitions: 24938, reward mean: 3.3405 +num rollout transitions: 24929, reward mean: 3.3356 +num rollout transitions: 24942, reward mean: 3.3376 +num rollout transitions: 24940, reward mean: 3.2666 +num rollout transitions: 24962, reward mean: 3.3101 +num rollout transitions: 24888, reward mean: 3.3272 +num 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mean: 3.2995 +num rollout transitions: 24962, reward mean: 3.3259 +num rollout transitions: 24913, reward mean: 3.2992 +num rollout transitions: 24914, reward mean: 3.3018 +num rollout transitions: 24946, reward mean: 3.3038 +---------------------------------------------------------------------------------- +| alpha | 0.0298 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.773 | +| loss/actor | -300 | +| loss/alpha | 0.0097 | +| loss/critic | 4.16 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.463 | +| rollout_info/dynamics_penalty_mean | 0.0788 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24941, reward mean: 3.3073 +num rollout transitions: 24928, reward mean: 3.3000 +num rollout transitions: 24917, reward mean: 3.3098 +num rollout transitions: 24935, reward mean: 3.3441 +num rollout transitions: 24932, reward mean: 3.3149 +num rollout transitions: 24919, reward mean: 3.3099 +num rollout transitions: 24944, reward mean: 3.3030 +num rollout transitions: 24939, reward mean: 3.3182 +num rollout transitions: 24934, reward mean: 3.2871 +num rollout transitions: 24929, reward mean: 3.3148 +num rollout transitions: 24943, reward mean: 3.3304 +num rollout transitions: 24952, reward mean: 3.2988 +num rollout transitions: 24930, reward mean: 3.2913 +num rollout transitions: 24939, reward mean: 3.3286 +num rollout transitions: 24939, reward mean: 3.2964 +num rollout transitions: 24934, reward mean: 3.2870 +num rollout transitions: 24939, reward mean: 3.2904 +num rollout transitions: 24939, reward mean: 3.2839 +num rollout transitions: 24903, reward mean: 3.2917 +num rollout transitions: 24943, reward mean: 3.3245 +num rollout transitions: 24931, reward mean: 3.3285 +num rollout transitions: 24960, reward mean: 3.3255 +num rollout transitions: 24940, reward mean: 3.2925 +num rollout transitions: 24942, reward mean: 3.3240 +num rollout transitions: 24928, reward mean: 3.3310 +num rollout transitions: 24930, reward mean: 3.3196 +num rollout transitions: 24904, reward mean: 3.2862 +num rollout transitions: 24937, reward mean: 3.3289 +num rollout transitions: 24941, reward mean: 3.3141 +num rollout transitions: 24911, reward mean: 3.2950 +num rollout transitions: 24903, reward mean: 3.3085 +num rollout transitions: 24925, reward mean: 3.3323 +num rollout transitions: 24918, reward mean: 3.3170 +num rollout transitions: 24920, reward mean: 3.3014 +num rollout transitions: 24934, reward mean: 3.3362 +num rollout transitions: 24907, reward mean: 3.3032 +num rollout transitions: 24946, reward mean: 3.3137 +num rollout transitions: 24931, reward mean: 3.3075 +num rollout transitions: 24933, reward mean: 3.3162 +num rollout transitions: 24926, reward mean: 3.3158 +num rollout transitions: 24928, reward mean: 3.3076 +num rollout transitions: 24935, reward mean: 3.3421 +num rollout transitions: 24935, reward mean: 3.3212 +num rollout transitions: 24928, reward mean: 3.3043 +num rollout transitions: 24928, reward mean: 3.2930 +num rollout transitions: 24916, reward mean: 3.3336 +num rollout transitions: 24913, reward mean: 3.3117 +num rollout transitions: 24956, reward mean: 3.3166 +num rollout transitions: 24952, reward mean: 3.2952 +num rollout transitions: 24948, reward mean: 3.3063 +---------------------------------------------------------------------------------- +| alpha | 0.0302 | +| eval/episode_length | 912 | +| eval/episode_length_std | 249 | +| eval/normalized_episode_reward | 102 | +| eval/normalized_episode_reward_std | 29.6 | +| loss/actor | -302 | +| loss/alpha | 0.00375 | +| loss/critic | 4.86 | +| penalty/lcb_mean | 0.217 | +| penalty/lcb_std | 0.471 | +| rollout_info/dynamics_penalty_mean | 0.0909 | +| rollout_info/dynamics_penalty_std | 0.178 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24921, reward mean: 3.3047 +num rollout transitions: 24947, reward mean: 3.3364 +num rollout transitions: 24925, reward mean: 3.2911 +num rollout transitions: 24951, reward mean: 3.3051 +num rollout transitions: 24925, reward mean: 3.3187 +num rollout transitions: 24940, reward mean: 3.2993 +num rollout transitions: 24949, reward mean: 3.3178 +num rollout transitions: 24887, reward mean: 3.3223 +num rollout transitions: 24943, reward mean: 3.3362 +num rollout transitions: 24884, reward mean: 3.3154 +num rollout transitions: 24936, reward mean: 3.3545 +num rollout transitions: 24931, reward mean: 3.3030 +num rollout transitions: 24934, reward mean: 3.2722 +num rollout transitions: 24928, reward mean: 3.2781 +num rollout 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+| eval/episode_length | 608 | +| eval/episode_length_std | 173 | +| eval/normalized_episode_reward | 65.9 | +| eval/normalized_episode_reward_std | 20.4 | +| loss/actor | -301 | +| loss/alpha | -0.0102 | +| loss/critic | 4.09 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.481 | +| rollout_info/dynamics_penalty_mean | 0.0762 | +| rollout_info/dynamics_penalty_std | 0.158 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24932, reward mean: 3.3334 +num rollout transitions: 24917, reward mean: 3.2965 +num rollout transitions: 24909, reward mean: 3.3260 +num rollout transitions: 24920, reward mean: 3.3070 +num rollout transitions: 24927, reward mean: 3.2967 +num rollout transitions: 24931, reward mean: 3.3176 +num rollout transitions: 24915, reward mean: 3.2958 +num rollout transitions: 24934, reward mean: 3.3278 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3.3093 +num rollout transitions: 24929, reward mean: 3.3087 +num rollout transitions: 24934, reward mean: 3.3191 +num rollout transitions: 24907, reward mean: 3.3323 +num rollout transitions: 24931, reward mean: 3.3121 +num rollout transitions: 24918, reward mean: 3.2894 +num rollout transitions: 24950, reward mean: 3.3043 +num rollout transitions: 24934, reward mean: 3.2912 +num rollout transitions: 24926, reward mean: 3.3191 +num rollout transitions: 24916, reward mean: 3.3245 +num rollout transitions: 24948, reward mean: 3.2831 +num rollout transitions: 24952, reward mean: 3.2817 +num rollout transitions: 24922, reward mean: 3.2803 +num rollout transitions: 24943, reward mean: 3.3146 +num rollout transitions: 24949, reward mean: 3.3175 +num rollout transitions: 24939, reward mean: 3.2914 +num rollout transitions: 24934, reward mean: 3.2953 +num rollout transitions: 24931, reward mean: 3.3143 +num rollout transitions: 24928, reward mean: 3.3196 +num rollout transitions: 24947, reward mean: 3.2887 +num rollout transitions: 24915, reward mean: 3.3039 +num rollout transitions: 24920, reward mean: 3.3134 +num rollout transitions: 24913, reward mean: 3.3143 +num rollout transitions: 24933, reward mean: 3.3070 +---------------------------------------------------------------------------------- +| alpha | 0.0302 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.836 | +| loss/actor | -301 | +| loss/alpha | 0.0412 | +| loss/critic | 7.61 | +| penalty/lcb_mean | 0.216 | +| penalty/lcb_std | 0.468 | +| rollout_info/dynamics_penalty_mean | 0.0866 | +| rollout_info/dynamics_penalty_std | 0.167 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24950, reward mean: 3.3445 +num rollout transitions: 24941, reward mean: 3.2871 +num rollout transitions: 24905, reward mean: 3.2993 +num rollout transitions: 24928, reward mean: 3.3105 +num rollout transitions: 24922, reward mean: 3.3161 +num rollout transitions: 24935, reward mean: 3.2868 +num rollout transitions: 24923, reward mean: 3.3035 +num rollout transitions: 24927, reward mean: 3.3078 +num rollout transitions: 24938, reward mean: 3.3278 +num rollout transitions: 24943, reward mean: 3.3051 +num rollout transitions: 24929, reward mean: 3.3273 +num rollout transitions: 24907, reward mean: 3.3345 +num rollout transitions: 24956, reward mean: 3.2906 +num rollout transitions: 24916, reward mean: 3.3192 +num rollout transitions: 24942, reward mean: 3.3070 +num rollout transitions: 24904, reward mean: 3.3061 +num rollout transitions: 24927, reward mean: 3.3359 +num rollout transitions: 24931, reward mean: 3.3190 +num rollout transitions: 24932, reward mean: 3.2773 +num rollout transitions: 24934, reward mean: 3.3193 +num rollout transitions: 24939, reward 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reward mean: 3.3004 +num rollout transitions: 24954, reward mean: 3.2856 +num rollout transitions: 24947, reward mean: 3.3162 +num rollout transitions: 24925, reward mean: 3.3058 +num rollout transitions: 24927, reward mean: 3.3203 +num rollout transitions: 24930, reward mean: 3.2869 +num rollout transitions: 24939, reward mean: 3.3140 +num rollout transitions: 24939, reward mean: 3.3023 +num rollout transitions: 24943, reward mean: 3.3022 +num rollout transitions: 24934, reward mean: 3.2854 +num rollout transitions: 24928, reward mean: 3.3169 +---------------------------------------------------------------------------------- +| alpha | 0.0298 | +| eval/episode_length | 155 | +| eval/episode_length_std | 87.7 | +| eval/normalized_episode_reward | 14.1 | +| eval/normalized_episode_reward_std | 10.7 | +| loss/actor | -300 | +| loss/alpha | -0.0122 | +| loss/critic | 4.2 | +| penalty/lcb_mean | 0.237 | +| penalty/lcb_std | 0.519 | +| rollout_info/dynamics_penalty_mean | 0.0807 | +| rollout_info/dynamics_penalty_std | 0.162 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24928, reward mean: 3.2930 +num rollout transitions: 24948, reward mean: 3.2917 +num rollout transitions: 24912, reward mean: 3.3265 +num rollout transitions: 24945, reward mean: 3.2996 +num rollout transitions: 24917, reward mean: 3.3046 +num rollout transitions: 24944, reward mean: 3.3054 +num rollout transitions: 24922, reward mean: 3.3128 +num rollout transitions: 24941, reward mean: 3.3032 +num rollout transitions: 24923, reward mean: 3.3182 +num rollout transitions: 24951, reward mean: 3.3207 +num rollout transitions: 24932, reward mean: 3.3284 +num rollout transitions: 24917, reward mean: 3.3046 +num rollout transitions: 24913, reward mean: 3.3006 +num rollout transitions: 24936, reward mean: 3.2821 +num rollout 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+| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 1.14 | +| loss/actor | -302 | +| loss/alpha | 0.0034 | +| loss/critic | 5.63 | +| penalty/lcb_mean | 0.224 | +| penalty/lcb_std | 0.498 | +| rollout_info/dynamics_penalty_mean | 0.088 | +| rollout_info/dynamics_penalty_std | 0.169 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.3 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24935, reward mean: 3.3207 +num rollout transitions: 24910, reward mean: 3.3177 +num rollout transitions: 24928, reward mean: 3.3310 +num rollout transitions: 24922, reward mean: 3.2967 +num rollout transitions: 24949, reward mean: 3.3165 +num rollout transitions: 24891, reward mean: 3.3200 +num rollout transitions: 24939, reward mean: 3.3053 +num rollout transitions: 24935, reward mean: 3.3016 +num 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3.2958 +num rollout transitions: 24949, reward mean: 3.3017 +num rollout transitions: 24917, reward mean: 3.2909 +num rollout transitions: 24962, reward mean: 3.3088 +num rollout transitions: 24944, reward mean: 3.2864 +num rollout transitions: 24940, reward mean: 3.2814 +num rollout transitions: 24915, reward mean: 3.3076 +num rollout transitions: 24939, reward mean: 3.2972 +num rollout transitions: 24919, reward mean: 3.2974 +num rollout transitions: 24933, reward mean: 3.2841 +num rollout transitions: 24932, reward mean: 3.3064 +num rollout transitions: 24947, reward mean: 3.2793 +num rollout transitions: 24946, reward mean: 3.2811 +num rollout transitions: 24942, reward mean: 3.2922 +num rollout transitions: 24944, reward mean: 3.3132 +num rollout transitions: 24952, reward mean: 3.3209 +num rollout transitions: 24934, reward mean: 3.2827 +num rollout transitions: 24915, reward mean: 3.3064 +num rollout transitions: 24932, reward mean: 3.3093 +num rollout transitions: 24944, reward mean: 3.3243 +num rollout transitions: 24933, reward mean: 3.3392 +num rollout transitions: 24931, reward mean: 3.2934 +num rollout transitions: 24930, reward mean: 3.3138 +num rollout transitions: 24942, reward mean: 3.3028 +---------------------------------------------------------------------------------- +| alpha | 0.027 | +| eval/episode_length | 335 | +| eval/episode_length_std | 17 | +| eval/normalized_episode_reward | 34.2 | +| eval/normalized_episode_reward_std | 2.26 | +| loss/actor | -302 | +| loss/alpha | -0.00371 | +| loss/critic | 3.43 | +| penalty/lcb_mean | 0.219 | +| penalty/lcb_std | 0.503 | +| rollout_info/dynamics_penalty_mean | 0.0811 | +| rollout_info/dynamics_penalty_std | 0.161 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24933, reward mean: 3.3250 +num rollout transitions: 24928, reward mean: 3.2965 +num rollout transitions: 24919, reward mean: 3.3140 +num rollout transitions: 24925, reward mean: 3.3023 +num rollout transitions: 24936, reward mean: 3.2827 +num rollout transitions: 24933, reward mean: 3.3198 +num rollout transitions: 24916, reward mean: 3.3129 +num rollout transitions: 24924, reward mean: 3.3564 +num rollout transitions: 24916, reward mean: 3.3151 +num rollout transitions: 24940, reward mean: 3.2966 +num rollout transitions: 24924, reward mean: 3.3009 +num rollout transitions: 24944, reward mean: 3.3034 +num rollout transitions: 24940, reward mean: 3.3144 +num rollout transitions: 24961, reward mean: 3.3073 +num rollout transitions: 24917, reward mean: 3.3254 +num rollout transitions: 24920, reward mean: 3.3176 +num rollout transitions: 24948, reward mean: 3.3132 +num rollout transitions: 24941, reward mean: 3.3363 +num rollout transitions: 24953, reward mean: 3.3043 +num rollout transitions: 24918, reward mean: 3.2923 +num rollout transitions: 24924, reward 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reward mean: 3.2941 +num rollout transitions: 24916, reward mean: 3.2853 +num rollout transitions: 24928, reward mean: 3.3047 +num rollout transitions: 24917, reward mean: 3.2982 +num rollout transitions: 24906, reward mean: 3.2956 +num rollout transitions: 24931, reward mean: 3.2958 +num rollout transitions: 24939, reward mean: 3.3055 +num rollout transitions: 24935, reward mean: 3.3004 +num rollout transitions: 24947, reward mean: 3.3126 +num rollout transitions: 24935, reward mean: 3.3025 +num rollout transitions: 24932, reward mean: 3.3051 +---------------------------------------------------------------------------------- +| alpha | 0.0274 | +| eval/episode_length | 539 | +| eval/episode_length_std | 470 | +| eval/normalized_episode_reward | 58.1 | +| eval/normalized_episode_reward_std | 53.8 | +| loss/actor | -302 | +| loss/alpha | 0.0015 | +| loss/critic | 4.32 | +| penalty/lcb_mean | 0.225 | +| penalty/lcb_std | 0.511 | +| rollout_info/dynamics_penalty_mean | 0.0773 | +| rollout_info/dynamics_penalty_std | 0.158 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24923, reward mean: 3.2662 +num rollout transitions: 24932, reward mean: 3.2984 +num rollout transitions: 24935, reward mean: 3.3026 +num rollout transitions: 24935, reward mean: 3.3124 +num rollout transitions: 24951, reward mean: 3.3446 +num rollout transitions: 24938, reward mean: 3.3088 +num rollout transitions: 24940, reward mean: 3.3099 +num rollout transitions: 24948, reward mean: 3.3166 +num rollout transitions: 24922, reward mean: 3.3209 +num rollout transitions: 24936, reward mean: 3.3215 +num rollout transitions: 24940, reward mean: 3.2903 +num rollout transitions: 24913, reward mean: 3.2976 +num rollout transitions: 24920, reward mean: 3.2809 +num rollout transitions: 24935, reward mean: 3.2893 +num rollout 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rollout transitions: 24927, reward mean: 3.2867 +num rollout transitions: 24933, reward mean: 3.3251 +num rollout transitions: 24916, reward mean: 3.3182 +num rollout transitions: 24935, reward mean: 3.3092 +num rollout transitions: 24927, reward mean: 3.3029 +num rollout transitions: 24955, reward mean: 3.2975 +num rollout transitions: 24910, reward mean: 3.3046 +num rollout transitions: 24958, reward mean: 3.2838 +num rollout transitions: 24919, reward mean: 3.3004 +num rollout transitions: 24948, reward mean: 3.2900 +num rollout transitions: 24936, reward mean: 3.3069 +num rollout transitions: 24928, reward mean: 3.2942 +num rollout transitions: 24915, reward mean: 3.2845 +num rollout transitions: 24944, reward mean: 3.3177 +num rollout transitions: 24923, reward mean: 3.3041 +num rollout transitions: 24946, reward mean: 3.3290 +num rollout transitions: 24930, reward mean: 3.2880 +---------------------------------------------------------------------------------- +| alpha | 0.0277 | +| eval/episode_length | 295 | +| eval/episode_length_std | 178 | +| eval/normalized_episode_reward | 29.2 | +| eval/normalized_episode_reward_std | 19.7 | +| loss/actor | -302 | +| loss/alpha | 0.00438 | +| loss/critic | 5.84 | +| penalty/lcb_mean | 0.229 | +| penalty/lcb_std | 0.524 | +| rollout_info/dynamics_penalty_mean | 0.0771 | +| rollout_info/dynamics_penalty_std | 0.158 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.3 | +| timestep | 1500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24939, reward mean: 3.2682 +num rollout transitions: 24963, reward mean: 3.2999 +num rollout transitions: 24939, reward mean: 3.3090 +num rollout transitions: 24920, reward mean: 3.2978 +num rollout transitions: 24943, reward mean: 3.3288 +num rollout transitions: 24948, reward mean: 3.2876 +num rollout transitions: 24910, reward mean: 3.3207 +num rollout transitions: 24946, reward mean: 3.2812 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3.3256 +num rollout transitions: 24959, reward mean: 3.3225 +num rollout transitions: 24925, reward mean: 3.3035 +num rollout transitions: 24920, reward mean: 3.2945 +num rollout transitions: 24944, reward mean: 3.3065 +num rollout transitions: 24938, reward mean: 3.3420 +num rollout transitions: 24943, reward mean: 3.2862 +num rollout transitions: 24943, reward mean: 3.3045 +num rollout transitions: 24930, reward mean: 3.3192 +num rollout transitions: 24955, reward mean: 3.3143 +num rollout transitions: 24925, reward mean: 3.2972 +num rollout transitions: 24959, reward mean: 3.3162 +num rollout transitions: 24921, reward mean: 3.2969 +num rollout transitions: 24933, reward mean: 3.3064 +num rollout transitions: 24947, reward mean: 3.3190 +num rollout transitions: 24942, reward mean: 3.3133 +num rollout transitions: 24928, reward mean: 3.3236 +num rollout transitions: 24951, reward mean: 3.3034 +num rollout transitions: 24920, reward mean: 3.3240 +num rollout transitions: 24946, reward mean: 3.3251 +num rollout transitions: 24946, reward mean: 3.3106 +num rollout transitions: 24942, reward mean: 3.3159 +num rollout transitions: 24929, reward mean: 3.3213 +num rollout transitions: 24937, reward mean: 3.2973 +---------------------------------------------------------------------------------- +| alpha | 0.0267 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 0.746 | +| loss/actor | -303 | +| loss/alpha | 0.00849 | +| loss/critic | 6.17 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.508 | +| rollout_info/dynamics_penalty_mean | 0.0803 | +| rollout_info/dynamics_penalty_std | 0.161 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24921, reward mean: 3.3101 +num rollout transitions: 24929, reward mean: 3.2985 +num rollout transitions: 24942, reward mean: 3.2784 +num rollout transitions: 24941, reward mean: 3.3168 +num rollout transitions: 24935, reward mean: 3.3337 +num rollout transitions: 24935, reward mean: 3.3069 +num rollout transitions: 24931, reward mean: 3.3105 +num rollout transitions: 24896, reward mean: 3.3301 +num rollout transitions: 24934, reward mean: 3.3247 +num rollout transitions: 24934, reward mean: 3.3020 +num rollout transitions: 24933, reward mean: 3.3100 +num rollout transitions: 24923, reward mean: 3.3368 +num rollout transitions: 24927, reward mean: 3.3186 +num rollout transitions: 24921, reward mean: 3.2819 +num rollout transitions: 24920, reward mean: 3.3191 +num rollout transitions: 24935, reward mean: 3.3060 +num rollout transitions: 24926, reward mean: 3.3039 +num rollout transitions: 24943, reward mean: 3.3030 +num rollout transitions: 24901, reward mean: 3.3227 +num rollout transitions: 24925, reward mean: 3.3429 +num rollout transitions: 24938, reward mean: 3.3355 +num rollout transitions: 24911, reward mean: 3.3359 +num rollout transitions: 24942, reward mean: 3.3189 +num rollout transitions: 24939, reward mean: 3.2855 +num rollout transitions: 24939, reward mean: 3.3151 +num rollout transitions: 24964, reward mean: 3.3176 +num rollout transitions: 24931, reward mean: 3.3238 +num rollout transitions: 24919, reward mean: 3.3045 +num rollout transitions: 24947, reward mean: 3.3190 +num rollout transitions: 24933, reward mean: 3.3033 +num rollout transitions: 24954, reward mean: 3.3213 +num rollout transitions: 24947, reward mean: 3.2893 +num rollout transitions: 24938, reward mean: 3.3209 +num rollout transitions: 24931, reward mean: 3.3051 +num rollout transitions: 24929, reward mean: 3.3346 +num rollout transitions: 24949, reward mean: 3.2860 +num rollout transitions: 24929, reward mean: 3.2889 +num rollout transitions: 24930, reward mean: 3.3133 +num rollout transitions: 24925, reward mean: 3.3216 +num rollout transitions: 24938, reward mean: 3.3102 +num rollout transitions: 24931, reward mean: 3.3051 +num rollout transitions: 24926, reward mean: 3.3213 +num rollout transitions: 24922, reward mean: 3.3455 +num rollout transitions: 24920, reward mean: 3.3142 +num rollout transitions: 24940, reward mean: 3.3107 +num rollout transitions: 24924, reward mean: 3.3172 +num rollout transitions: 24941, reward mean: 3.2803 +num rollout transitions: 24955, reward mean: 3.2811 +num rollout transitions: 24940, reward mean: 3.3009 +num rollout transitions: 24937, reward mean: 3.2834 +---------------------------------------------------------------------------------- +| alpha | 0.0246 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 0.975 | +| loss/actor | -305 | +| loss/alpha | -0.0218 | +| loss/critic | 4.07 | +| penalty/lcb_mean | 0.214 | +| penalty/lcb_std | 0.484 | +| rollout_info/dynamics_penalty_mean | 0.0806 | +| rollout_info/dynamics_penalty_std | 0.165 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24934, reward mean: 3.3168 +num rollout transitions: 24949, reward mean: 3.3135 +num rollout transitions: 24927, reward mean: 3.2715 +num rollout transitions: 24923, reward mean: 3.3006 +num rollout transitions: 24911, reward mean: 3.2927 +num rollout transitions: 24940, reward mean: 3.2967 +num rollout transitions: 24955, reward mean: 3.2820 +num rollout transitions: 24901, reward mean: 3.3119 +num rollout transitions: 24922, reward mean: 3.3226 +num rollout transitions: 24928, reward mean: 3.3303 +num rollout transitions: 24945, reward mean: 3.2907 +num rollout transitions: 24933, reward mean: 3.2895 +num rollout transitions: 24915, reward mean: 3.3192 +num rollout transitions: 24952, reward mean: 3.3285 +num rollout 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rollout transitions: 24934, reward mean: 3.3150 +num rollout transitions: 24925, reward mean: 3.3253 +num rollout transitions: 24906, reward mean: 3.3089 +num rollout transitions: 24958, reward mean: 3.3015 +num rollout transitions: 24915, reward mean: 3.3406 +num rollout transitions: 24929, reward mean: 3.3294 +num rollout transitions: 24931, reward mean: 3.3239 +num rollout transitions: 24925, reward mean: 3.3415 +num rollout transitions: 24926, reward mean: 3.3275 +num rollout transitions: 24941, reward mean: 3.3212 +num rollout transitions: 24909, reward mean: 3.3203 +num rollout transitions: 24932, reward mean: 3.2817 +num rollout transitions: 24922, reward mean: 3.3052 +num rollout transitions: 24932, reward mean: 3.3342 +num rollout transitions: 24922, reward mean: 3.3402 +num rollout transitions: 24942, reward mean: 3.2934 +num rollout transitions: 24896, reward mean: 3.3204 +---------------------------------------------------------------------------------- +| alpha | 0.0251 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 0.954 | +| loss/actor | -303 | +| loss/alpha | 0.00573 | +| loss/critic | 5.03 | +| penalty/lcb_mean | 0.218 | +| penalty/lcb_std | 0.484 | +| rollout_info/dynamics_penalty_mean | 0.0815 | +| rollout_info/dynamics_penalty_std | 0.164 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24936, reward mean: 3.3025 +num rollout transitions: 24940, reward mean: 3.3175 +num rollout transitions: 24965, reward mean: 3.3242 +num rollout transitions: 24933, reward mean: 3.3071 +num rollout transitions: 24929, reward mean: 3.2719 +num rollout transitions: 24929, reward mean: 3.2586 +num rollout transitions: 24919, reward mean: 3.3158 +num rollout transitions: 24910, reward mean: 3.3037 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3.3148 +num rollout transitions: 24936, reward mean: 3.3022 +num rollout transitions: 24924, reward mean: 3.3193 +num rollout transitions: 24930, reward mean: 3.3181 +num rollout transitions: 24930, reward mean: 3.2889 +num rollout transitions: 24920, reward mean: 3.3210 +num rollout transitions: 24932, reward mean: 3.3011 +num rollout transitions: 24901, reward mean: 3.3236 +num rollout transitions: 24920, reward mean: 3.3138 +num rollout transitions: 24929, reward mean: 3.3299 +num rollout transitions: 24922, reward mean: 3.3304 +num rollout transitions: 24942, reward mean: 3.3216 +num rollout transitions: 24941, reward mean: 3.2977 +num rollout transitions: 24942, reward mean: 3.3077 +num rollout transitions: 24943, reward mean: 3.3268 +num rollout transitions: 24924, reward mean: 3.3232 +num rollout transitions: 24957, reward mean: 3.3179 +num rollout transitions: 24917, reward mean: 3.3357 +num rollout transitions: 24921, reward mean: 3.2853 +num rollout transitions: 24943, reward 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reward mean: 3.3035 +num rollout transitions: 24931, reward mean: 3.2924 +num rollout transitions: 24952, reward mean: 3.3081 +num rollout transitions: 24942, reward mean: 3.3107 +num rollout transitions: 24940, reward mean: 3.2781 +num rollout transitions: 24910, reward mean: 3.2761 +num rollout transitions: 24930, reward mean: 3.2854 +num rollout transitions: 24948, reward mean: 3.3235 +num rollout transitions: 24945, reward mean: 3.2989 +num rollout transitions: 24941, reward mean: 3.2774 +num rollout transitions: 24917, reward mean: 3.3099 +---------------------------------------------------------------------------------- +| alpha | 0.0246 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 110 | +| eval/normalized_episode_reward_std | 0.871 | +| loss/actor | -303 | +| loss/alpha | -0.0091 | +| loss/critic | 3.73 | +| penalty/lcb_mean | 0.223 | +| penalty/lcb_std | 0.501 | +| rollout_info/dynamics_penalty_mean | 0.0756 | +| rollout_info/dynamics_penalty_std | 0.153 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.3 | +| timestep | 1750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24934, reward mean: 3.2996 +num rollout transitions: 24935, reward mean: 3.3010 +num rollout transitions: 24933, reward mean: 3.3304 +num rollout transitions: 24933, reward mean: 3.3011 +num rollout transitions: 24950, reward mean: 3.2826 +num rollout transitions: 24924, reward mean: 3.3044 +num rollout transitions: 24919, reward mean: 3.3166 +num rollout transitions: 24938, reward mean: 3.3333 +num rollout transitions: 24904, reward mean: 3.3155 +num rollout transitions: 24917, reward mean: 3.3102 +num rollout transitions: 24909, reward mean: 3.3271 +num rollout transitions: 24942, reward mean: 3.3293 +num rollout transitions: 24923, reward mean: 3.3185 +num rollout transitions: 24917, reward mean: 3.3205 +num rollout transitions: 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transitions: 24951, reward mean: 3.3051 +num rollout transitions: 24919, reward mean: 3.3086 +num rollout transitions: 24926, reward mean: 3.3302 +num rollout transitions: 24953, reward mean: 3.2920 +num rollout transitions: 24909, reward mean: 3.3199 +num rollout transitions: 24932, reward mean: 3.3115 +num rollout transitions: 24952, reward mean: 3.3149 +num rollout transitions: 24932, reward mean: 3.3073 +num rollout transitions: 24924, reward mean: 3.3177 +num rollout transitions: 24905, reward mean: 3.3089 +num rollout transitions: 24919, reward mean: 3.3183 +num rollout transitions: 24921, reward mean: 3.2991 +num rollout transitions: 24951, reward mean: 3.2798 +num rollout transitions: 24919, reward mean: 3.3140 +num rollout transitions: 24929, reward mean: 3.3085 +num rollout transitions: 24935, reward mean: 3.3241 +num rollout transitions: 24910, reward mean: 3.2907 +---------------------------------------------------------------------------------- +| alpha | 0.0244 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.721 | +| loss/actor | -304 | +| loss/alpha | 0.0299 | +| loss/critic | 4.72 | +| penalty/lcb_mean | 0.217 | +| penalty/lcb_std | 0.485 | +| rollout_info/dynamics_penalty_mean | 0.0743 | +| rollout_info/dynamics_penalty_std | 0.158 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24892, reward mean: 3.3388 +num rollout transitions: 24940, reward mean: 3.3051 +num rollout transitions: 24944, reward mean: 3.3295 +num rollout transitions: 24934, reward mean: 3.3056 +num rollout transitions: 24921, reward mean: 3.3119 +num rollout transitions: 24927, reward mean: 3.3352 +num rollout transitions: 24919, reward mean: 3.3079 +num rollout transitions: 24948, reward mean: 3.3179 +num 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3.3122 +num rollout transitions: 24894, reward mean: 3.3088 +num rollout transitions: 24957, reward mean: 3.3158 +num rollout transitions: 24948, reward mean: 3.3171 +num rollout transitions: 24933, reward mean: 3.3441 +num rollout transitions: 24939, reward mean: 3.3140 +num rollout transitions: 24944, reward mean: 3.3146 +num rollout transitions: 24925, reward mean: 3.2976 +num rollout transitions: 24940, reward mean: 3.3072 +num rollout transitions: 24899, reward mean: 3.2905 +num rollout transitions: 24958, reward mean: 3.3184 +num rollout transitions: 24960, reward mean: 3.3154 +num rollout transitions: 24951, reward mean: 3.3095 +num rollout transitions: 24936, reward mean: 3.3244 +num rollout transitions: 24925, reward mean: 3.3210 +num rollout transitions: 24932, reward mean: 3.3230 +num rollout transitions: 24915, reward mean: 3.3377 +num rollout transitions: 24934, reward mean: 3.3159 +num rollout transitions: 24941, reward mean: 3.3257 +num rollout transitions: 24925, reward 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reward mean: 3.3280 +num rollout transitions: 24929, reward mean: 3.3072 +num rollout transitions: 24935, reward mean: 3.3105 +num rollout transitions: 24933, reward mean: 3.2908 +num rollout transitions: 24929, reward mean: 3.2902 +num rollout transitions: 24912, reward mean: 3.2963 +num rollout transitions: 24929, reward mean: 3.3258 +num rollout transitions: 24926, reward mean: 3.3062 +num rollout transitions: 24931, reward mean: 3.2900 +num rollout transitions: 24908, reward mean: 3.3071 +num rollout transitions: 24931, reward mean: 3.3448 +num rollout transitions: 24931, reward mean: 3.2997 +num rollout transitions: 24949, reward mean: 3.3185 +num rollout transitions: 24931, reward mean: 3.2954 +num rollout transitions: 24952, reward mean: 3.3097 +num rollout transitions: 24936, reward mean: 3.3212 +num rollout transitions: 24943, reward mean: 3.3082 +num rollout transitions: 24941, reward mean: 3.3013 +num rollout transitions: 24952, reward mean: 3.3041 +num rollout transitions: 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+| rollout_info/dynamics_penalty_std | 0.158 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24947, reward mean: 3.3243 +num rollout transitions: 24909, reward mean: 3.3182 +num rollout transitions: 24915, reward mean: 3.3308 +num rollout transitions: 24909, reward mean: 3.3097 +num rollout transitions: 24959, reward mean: 3.2906 +num rollout transitions: 24942, reward mean: 3.3158 +num rollout transitions: 24939, reward mean: 3.2811 +num rollout transitions: 24932, reward mean: 3.2966 +num rollout transitions: 24926, reward mean: 3.3191 +num rollout transitions: 24930, reward mean: 3.3096 +num rollout transitions: 24950, reward mean: 3.2985 +num rollout transitions: 24953, reward mean: 3.3099 +num rollout transitions: 24915, reward mean: 3.3235 +num rollout transitions: 24930, reward mean: 3.3168 +num rollout 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rollout transitions: 24918, reward mean: 3.3541 +num rollout transitions: 24937, reward mean: 3.3032 +num rollout transitions: 24970, reward mean: 3.2986 +num rollout transitions: 24931, reward mean: 3.3105 +num rollout transitions: 24914, reward mean: 3.3102 +num rollout transitions: 24952, reward mean: 3.3339 +num rollout transitions: 24938, reward mean: 3.3386 +num rollout transitions: 24922, reward mean: 3.3057 +num rollout transitions: 24935, reward mean: 3.3191 +num rollout transitions: 24931, reward mean: 3.2991 +num rollout transitions: 24934, reward mean: 3.3166 +num rollout transitions: 24935, reward mean: 3.3286 +num rollout transitions: 24909, reward mean: 3.3204 +num rollout transitions: 24937, reward mean: 3.3103 +num rollout transitions: 24945, reward mean: 3.3357 +num rollout transitions: 24948, reward mean: 3.3210 +num rollout transitions: 24935, reward mean: 3.3006 +---------------------------------------------------------------------------------- +| alpha | 0.0225 | +| eval/episode_length | 997 | +| eval/episode_length_std | 31.4 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 3.72 | +| loss/actor | -303 | +| loss/alpha | 0.00576 | +| loss/critic | 3.2 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.474 | +| rollout_info/dynamics_penalty_mean | 0.0784 | +| rollout_info/dynamics_penalty_std | 0.161 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24945, reward mean: 3.3277 +num rollout transitions: 24948, reward mean: 3.3137 +num rollout transitions: 24956, reward mean: 3.3073 +num rollout transitions: 24936, reward mean: 3.3351 +num rollout transitions: 24919, reward mean: 3.3209 +num rollout transitions: 24945, reward mean: 3.3283 +num rollout transitions: 24926, reward mean: 3.3231 +num rollout transitions: 24931, reward mean: 3.2934 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3.2968 +num rollout transitions: 24964, reward mean: 3.2930 +num rollout transitions: 24944, reward mean: 3.3106 +num rollout transitions: 24927, reward mean: 3.3154 +num rollout transitions: 24929, reward mean: 3.3051 +num rollout transitions: 24922, reward mean: 3.3144 +num rollout transitions: 24909, reward mean: 3.2989 +num rollout transitions: 24944, reward mean: 3.2886 +num rollout transitions: 24956, reward mean: 3.2823 +num rollout transitions: 24931, reward mean: 3.2974 +num rollout transitions: 24941, reward mean: 3.2850 +num rollout transitions: 24921, reward mean: 3.2753 +num rollout transitions: 24954, reward mean: 3.2973 +num rollout transitions: 24933, reward mean: 3.3044 +num rollout transitions: 24927, reward mean: 3.3074 +num rollout transitions: 24928, reward mean: 3.2908 +num rollout transitions: 24935, reward mean: 3.3310 +num rollout transitions: 24921, reward mean: 3.3029 +num rollout transitions: 24925, reward mean: 3.3187 +num rollout transitions: 24941, reward 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3.3311 +num rollout transitions: 24921, reward mean: 3.3055 +num rollout transitions: 24925, reward mean: 3.3110 +num rollout transitions: 24917, reward mean: 3.3029 +num rollout transitions: 24928, reward mean: 3.2759 +num rollout transitions: 24928, reward mean: 3.2856 +num rollout transitions: 24950, reward mean: 3.3108 +num rollout transitions: 24924, reward mean: 3.2889 +num rollout transitions: 24946, reward mean: 3.3063 +num rollout transitions: 24932, reward mean: 3.2798 +num rollout transitions: 24940, reward mean: 3.3140 +num rollout transitions: 24915, reward mean: 3.2878 +num rollout transitions: 24916, reward mean: 3.2830 +num rollout transitions: 24940, reward mean: 3.2989 +num rollout transitions: 24928, reward mean: 3.3104 +num rollout transitions: 24930, reward mean: 3.3032 +num rollout transitions: 24932, reward mean: 3.2896 +num rollout transitions: 24918, reward mean: 3.3339 +num rollout transitions: 24946, reward mean: 3.3444 +num rollout transitions: 24938, reward 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reward mean: 3.3127 +num rollout transitions: 24920, reward mean: 3.2887 +num rollout transitions: 24914, reward mean: 3.3166 +num rollout transitions: 24947, reward mean: 3.3115 +num rollout transitions: 24925, reward mean: 3.2971 +num rollout transitions: 24932, reward mean: 3.3156 +num rollout transitions: 24943, reward mean: 3.3138 +num rollout transitions: 24920, reward mean: 3.2908 +num rollout transitions: 24934, reward mean: 3.2974 +num rollout transitions: 24927, reward mean: 3.3107 +num rollout transitions: 24916, reward mean: 3.3325 +---------------------------------------------------------------------------------- +| alpha | 0.024 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.778 | +| loss/actor | -304 | +| loss/alpha | -0.0123 | +| loss/critic | 3.27 | +| penalty/lcb_mean | 0.226 | +| penalty/lcb_std | 0.483 | +| rollout_info/dynamics_penalty_mean | 0.0802 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24935, reward mean: 3.3152 +num rollout transitions: 24932, reward mean: 3.3038 +num rollout transitions: 24955, reward mean: 3.2986 +num rollout transitions: 24935, reward mean: 3.2981 +num rollout transitions: 24941, reward mean: 3.3039 +num rollout transitions: 24921, reward mean: 3.3017 +num rollout transitions: 24948, reward mean: 3.3326 +num rollout transitions: 24942, reward mean: 3.3409 +num rollout transitions: 24926, reward mean: 3.2975 +num rollout transitions: 24943, reward mean: 3.3145 +num rollout transitions: 24923, reward mean: 3.3107 +num rollout transitions: 24929, reward mean: 3.3123 +num rollout transitions: 24932, reward mean: 3.3069 +num rollout transitions: 24943, reward mean: 3.3250 +num rollout 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rollout transitions: 24927, reward mean: 3.3444 +num rollout transitions: 24953, reward mean: 3.2756 +num rollout transitions: 24934, reward mean: 3.3302 +num rollout transitions: 24962, reward mean: 3.3010 +num rollout transitions: 24919, reward mean: 3.3149 +num rollout transitions: 24919, reward mean: 3.3265 +num rollout transitions: 24935, reward mean: 3.2973 +num rollout transitions: 24928, reward mean: 3.2990 +num rollout transitions: 24952, reward mean: 3.3061 +num rollout transitions: 24936, reward mean: 3.3112 +num rollout transitions: 24951, reward mean: 3.3124 +num rollout transitions: 24923, reward mean: 3.3252 +num rollout transitions: 24925, reward mean: 3.3087 +num rollout transitions: 24939, reward mean: 3.3180 +num rollout transitions: 24937, reward mean: 3.2950 +num rollout transitions: 24946, reward mean: 3.3350 +num rollout transitions: 24930, reward mean: 3.2983 +---------------------------------------------------------------------------------- +| alpha | 0.0264 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.751 | +| loss/actor | -302 | +| loss/alpha | -0.00567 | +| loss/critic | 4.24 | +| penalty/lcb_mean | 0.237 | +| penalty/lcb_std | 0.525 | +| rollout_info/dynamics_penalty_mean | 0.0773 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24920, reward mean: 3.3120 +num rollout transitions: 24928, reward mean: 3.3227 +num rollout transitions: 24929, reward mean: 3.3198 +num rollout transitions: 24949, reward mean: 3.3097 +num rollout transitions: 24922, reward mean: 3.3073 +num rollout transitions: 24932, reward mean: 3.2909 +num rollout transitions: 24937, reward mean: 3.3185 +num rollout transitions: 24937, reward mean: 3.3109 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3.3104 +num rollout transitions: 24947, reward mean: 3.3123 +num rollout transitions: 24930, reward mean: 3.2980 +num rollout transitions: 24947, reward mean: 3.3153 +num rollout transitions: 24916, reward mean: 3.2957 +num rollout transitions: 24931, reward mean: 3.2858 +num rollout transitions: 24941, reward mean: 3.3011 +num rollout transitions: 24929, reward mean: 3.3043 +num rollout transitions: 24959, reward mean: 3.3382 +num rollout transitions: 24953, reward mean: 3.3329 +num rollout transitions: 24927, reward mean: 3.3486 +num rollout transitions: 24934, reward mean: 3.3227 +num rollout transitions: 24923, reward mean: 3.3135 +num rollout transitions: 24937, reward mean: 3.3264 +num rollout transitions: 24932, reward mean: 3.3271 +num rollout transitions: 24951, reward mean: 3.3099 +num rollout transitions: 24911, reward mean: 3.3206 +num rollout transitions: 24945, reward mean: 3.3103 +num rollout transitions: 24911, reward mean: 3.3174 +num rollout transitions: 24946, reward mean: 3.3223 +num rollout transitions: 24946, reward mean: 3.3160 +num rollout transitions: 24926, reward mean: 3.3172 +num rollout transitions: 24922, reward mean: 3.3198 +num rollout transitions: 24954, reward mean: 3.2926 +---------------------------------------------------------------------------------- +| alpha | 0.0257 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.736 | +| loss/actor | -302 | +| loss/alpha | -0.00621 | +| loss/critic | 4.06 | +| penalty/lcb_mean | 0.236 | +| penalty/lcb_std | 0.532 | +| rollout_info/dynamics_penalty_mean | 0.0717 | +| rollout_info/dynamics_penalty_std | 0.159 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24949, reward mean: 3.3240 +num rollout transitions: 24945, reward mean: 3.3152 +num rollout transitions: 24951, reward mean: 3.3015 +num rollout transitions: 24944, reward mean: 3.2754 +num rollout transitions: 24933, reward mean: 3.3160 +num rollout transitions: 24945, reward mean: 3.3408 +num rollout transitions: 24940, reward mean: 3.3327 +num rollout transitions: 24930, reward mean: 3.3056 +num rollout transitions: 24919, reward mean: 3.3090 +num rollout transitions: 24934, reward mean: 3.3106 +num rollout transitions: 24934, reward mean: 3.3071 +num rollout transitions: 24920, reward mean: 3.3203 +num rollout transitions: 24934, reward mean: 3.3144 +num rollout transitions: 24936, reward mean: 3.2826 +num rollout transitions: 24922, reward mean: 3.2946 +num rollout transitions: 24896, reward mean: 3.3270 +num rollout transitions: 24880, reward mean: 3.2935 +num rollout transitions: 24976, reward mean: 3.3025 +num rollout transitions: 24959, reward mean: 3.3318 +num rollout transitions: 24916, reward mean: 3.3144 +num rollout transitions: 24927, 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24948, reward mean: 3.3024 +num rollout transitions: 24925, reward mean: 3.3237 +num rollout transitions: 24924, reward mean: 3.2913 +num rollout transitions: 24929, reward mean: 3.3344 +num rollout transitions: 24904, reward mean: 3.3024 +num rollout transitions: 24948, reward mean: 3.3142 +num rollout transitions: 24947, reward mean: 3.3332 +num rollout transitions: 24935, reward mean: 3.3052 +num rollout transitions: 24949, reward mean: 3.2980 +num rollout transitions: 24934, reward mean: 3.2921 +num rollout transitions: 24928, reward mean: 3.3146 +---------------------------------------------------------------------------------- +| alpha | 0.025 | +| eval/episode_length | 590 | +| eval/episode_length_std | 326 | +| eval/normalized_episode_reward | 64.5 | +| eval/normalized_episode_reward_std | 38.2 | +| loss/actor | -302 | +| loss/alpha | 0.0145 | +| loss/critic | 3.67 | +| penalty/lcb_mean | 0.234 | +| penalty/lcb_std | 0.513 | +| rollout_info/dynamics_penalty_mean | 0.0799 | +| rollout_info/dynamics_penalty_std | 0.166 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24936, reward mean: 3.2808 +num rollout transitions: 24932, reward mean: 3.3177 +num rollout transitions: 24926, reward mean: 3.3158 +num rollout transitions: 24946, reward mean: 3.2984 +num rollout transitions: 24909, reward mean: 3.2828 +num rollout transitions: 24961, reward mean: 3.2835 +num rollout transitions: 24954, reward mean: 3.3235 +num rollout transitions: 24931, reward mean: 3.3191 +num rollout transitions: 24926, reward mean: 3.3276 +num rollout transitions: 24933, reward mean: 3.3202 +num rollout transitions: 24936, reward mean: 3.3087 +num rollout transitions: 24915, reward mean: 3.3153 +num rollout transitions: 24917, reward mean: 3.3212 +num rollout transitions: 24931, reward mean: 3.3194 +num rollout 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+| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.71 | +| loss/actor | -302 | +| loss/alpha | -0.0134 | +| loss/critic | 3.17 | +| penalty/lcb_mean | 0.23 | +| penalty/lcb_std | 0.507 | +| rollout_info/dynamics_penalty_mean | 0.0833 | +| rollout_info/dynamics_penalty_std | 0.172 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24923, reward mean: 3.3053 +num rollout transitions: 24926, reward mean: 3.3109 +num rollout transitions: 24934, reward mean: 3.3304 +num rollout transitions: 24947, reward mean: 3.3046 +num rollout transitions: 24939, reward mean: 3.3208 +num rollout transitions: 24942, reward mean: 3.3114 +num rollout transitions: 24907, reward mean: 3.3162 +num rollout transitions: 24933, reward mean: 3.3139 +num 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3.3201 +num rollout transitions: 24930, reward mean: 3.3086 +num rollout transitions: 24935, reward mean: 3.3132 +num rollout transitions: 24933, reward mean: 3.3286 +num rollout transitions: 24947, reward mean: 3.3191 +num rollout transitions: 24931, reward mean: 3.3341 +num rollout transitions: 24926, reward mean: 3.2966 +num rollout transitions: 24943, reward mean: 3.2882 +num rollout transitions: 24928, reward mean: 3.3127 +num rollout transitions: 24938, reward mean: 3.2750 +num rollout transitions: 24946, reward mean: 3.3027 +num rollout transitions: 24948, reward mean: 3.3082 +num rollout transitions: 24922, reward mean: 3.3242 +num rollout transitions: 24927, reward mean: 3.3043 +num rollout transitions: 24943, reward mean: 3.3127 +num rollout transitions: 24942, reward mean: 3.3027 +num rollout transitions: 24943, reward mean: 3.3110 +num rollout transitions: 24926, reward mean: 3.3039 +num rollout transitions: 24929, reward mean: 3.3223 +num rollout transitions: 24930, reward mean: 3.3042 +num rollout transitions: 24927, reward mean: 3.2865 +num rollout transitions: 24892, reward mean: 3.3061 +num rollout transitions: 24930, reward mean: 3.3037 +num rollout transitions: 24926, reward mean: 3.2978 +---------------------------------------------------------------------------------- +| alpha | 0.0237 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.735 | +| loss/actor | -303 | +| loss/alpha | 0.0145 | +| loss/critic | 3.63 | +| penalty/lcb_mean | 0.225 | +| penalty/lcb_std | 0.503 | +| rollout_info/dynamics_penalty_mean | 0.0787 | +| rollout_info/dynamics_penalty_std | 0.164 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24952, reward mean: 3.3178 +num rollout transitions: 24926, reward mean: 3.3040 +num rollout transitions: 24929, reward mean: 3.2980 +num rollout transitions: 24933, reward mean: 3.3215 +num rollout transitions: 24932, reward mean: 3.3238 +num rollout transitions: 24926, reward mean: 3.3604 +num rollout transitions: 24926, reward mean: 3.3146 +num rollout transitions: 24909, reward mean: 3.3193 +num rollout transitions: 24927, reward mean: 3.3271 +num rollout transitions: 24937, reward mean: 3.3173 +num rollout transitions: 24916, reward mean: 3.3360 +num rollout transitions: 24936, reward mean: 3.3219 +num rollout transitions: 24943, reward mean: 3.3132 +num rollout transitions: 24926, reward mean: 3.2979 +num rollout transitions: 24921, reward mean: 3.3037 +num rollout transitions: 24933, reward mean: 3.2970 +num rollout transitions: 24928, reward mean: 3.3026 +num rollout transitions: 24921, reward mean: 3.3147 +num rollout transitions: 24956, reward mean: 3.3320 +num rollout transitions: 24942, reward mean: 3.3260 +num rollout transitions: 24954, reward mean: 3.3221 +num rollout transitions: 24919, reward mean: 3.2984 +num rollout transitions: 24950, reward mean: 3.3150 +num rollout transitions: 24958, reward mean: 3.3200 +num rollout transitions: 24922, reward mean: 3.3186 +num rollout transitions: 24920, reward mean: 3.2985 +num rollout transitions: 24906, reward mean: 3.3112 +num rollout transitions: 24898, reward mean: 3.3334 +num rollout transitions: 24924, reward mean: 3.3151 +num rollout transitions: 24939, reward mean: 3.3178 +num rollout transitions: 24954, reward mean: 3.3257 +num rollout transitions: 24906, reward mean: 3.3288 +num rollout transitions: 24941, reward mean: 3.3060 +num rollout transitions: 24904, reward mean: 3.3209 +num rollout transitions: 24936, reward mean: 3.2951 +num rollout transitions: 24941, reward mean: 3.3312 +num rollout transitions: 24954, reward mean: 3.3271 +num rollout transitions: 24905, reward mean: 3.3246 +num rollout transitions: 24924, reward mean: 3.3122 +num rollout transitions: 24940, reward mean: 3.3442 +num rollout transitions: 24943, reward mean: 3.3469 +num rollout transitions: 24933, reward mean: 3.3101 +num rollout transitions: 24927, reward mean: 3.3333 +num rollout transitions: 24936, reward mean: 3.3288 +num rollout transitions: 24934, reward mean: 3.3216 +num rollout transitions: 24940, reward mean: 3.3397 +num rollout transitions: 24937, reward mean: 3.3028 +num rollout transitions: 24946, reward mean: 3.3113 +num rollout transitions: 24927, reward mean: 3.2857 +num rollout transitions: 24937, reward mean: 3.3059 +---------------------------------------------------------------------------------- +| alpha | 0.0245 | +| eval/episode_length | 742 | +| eval/episode_length_std | 290 | +| eval/normalized_episode_reward | 82.4 | +| eval/normalized_episode_reward_std | 34.1 | +| loss/actor | -303 | +| loss/alpha | -0.0144 | +| loss/critic | 4.31 | +| penalty/lcb_mean | 0.22 | +| penalty/lcb_std | 0.486 | +| rollout_info/dynamics_penalty_mean | 0.0825 | +| rollout_info/dynamics_penalty_std | 0.174 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24953, reward mean: 3.3149 +num rollout transitions: 24937, reward mean: 3.2977 +num rollout transitions: 24946, reward mean: 3.2969 +num rollout transitions: 24915, reward mean: 3.3107 +num rollout transitions: 24919, reward mean: 3.3076 +num rollout transitions: 24945, reward mean: 3.3302 +num rollout transitions: 24894, reward mean: 3.3027 +num rollout transitions: 24917, reward mean: 3.2948 +num rollout transitions: 24954, reward mean: 3.3133 +num rollout transitions: 24929, reward mean: 3.2967 +num rollout transitions: 24948, reward mean: 3.3015 +num rollout transitions: 24916, reward mean: 3.3309 +num rollout transitions: 24926, reward mean: 3.2851 +num rollout transitions: 24932, reward mean: 3.3337 +num rollout 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rollout transitions: 24925, reward mean: 3.3322 +num rollout transitions: 24930, reward mean: 3.3165 +num rollout transitions: 24949, reward mean: 3.2984 +num rollout transitions: 24911, reward mean: 3.3223 +num rollout transitions: 24921, reward mean: 3.2982 +num rollout transitions: 24951, reward mean: 3.3196 +num rollout transitions: 24942, reward mean: 3.3171 +num rollout transitions: 24938, reward mean: 3.3339 +num rollout transitions: 24913, reward mean: 3.3002 +num rollout transitions: 24947, reward mean: 3.3333 +num rollout transitions: 24927, reward mean: 3.3288 +num rollout transitions: 24938, reward mean: 3.3120 +num rollout transitions: 24947, reward mean: 3.3064 +num rollout transitions: 24939, reward mean: 3.3224 +num rollout transitions: 24950, reward mean: 3.2985 +num rollout transitions: 24915, reward mean: 3.3156 +num rollout transitions: 24910, reward mean: 3.2909 +---------------------------------------------------------------------------------- +| alpha | 0.0236 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.751 | +| loss/actor | -304 | +| loss/alpha | -0.00337 | +| loss/critic | 3.45 | +| penalty/lcb_mean | 0.22 | +| penalty/lcb_std | 0.483 | +| rollout_info/dynamics_penalty_mean | 0.0817 | +| rollout_info/dynamics_penalty_std | 0.172 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24910, reward mean: 3.2984 +num rollout transitions: 24918, reward mean: 3.2939 +num rollout transitions: 24905, reward mean: 3.3073 +num rollout transitions: 24911, reward mean: 3.2871 +num rollout transitions: 24947, reward mean: 3.3127 +num rollout transitions: 24935, reward mean: 3.3142 +num rollout transitions: 24936, reward mean: 3.3195 +num rollout transitions: 24914, reward mean: 3.3134 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3.2874 +num rollout transitions: 24930, reward mean: 3.3082 +num rollout transitions: 24921, reward mean: 3.3226 +num rollout transitions: 24908, reward mean: 3.2934 +num rollout transitions: 24952, reward mean: 3.3170 +num rollout transitions: 24914, reward mean: 3.3391 +num rollout transitions: 24959, reward mean: 3.3211 +num rollout transitions: 24937, reward mean: 3.3067 +num rollout transitions: 24929, reward mean: 3.3021 +num rollout transitions: 24914, reward mean: 3.3476 +num rollout transitions: 24926, reward mean: 3.3146 +num rollout transitions: 24949, reward mean: 3.3096 +num rollout transitions: 24922, reward mean: 3.2954 +num rollout transitions: 24943, reward mean: 3.3206 +num rollout transitions: 24955, reward mean: 3.3254 +num rollout transitions: 24925, reward mean: 3.2735 +num rollout transitions: 24909, reward mean: 3.2977 +num rollout transitions: 24921, reward mean: 3.3023 +num rollout transitions: 24917, reward mean: 3.3017 +num rollout transitions: 24956, reward mean: 3.3105 +num rollout transitions: 24940, reward mean: 3.3163 +num rollout transitions: 24917, reward mean: 3.3228 +num rollout transitions: 24937, reward mean: 3.3373 +num rollout transitions: 24905, reward mean: 3.3626 +---------------------------------------------------------------------------------- +| alpha | 0.0242 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.744 | +| loss/actor | -303 | +| loss/alpha | 0.0328 | +| loss/critic | 4.38 | +| penalty/lcb_mean | 0.232 | +| penalty/lcb_std | 0.505 | +| rollout_info/dynamics_penalty_mean | 0.081 | +| rollout_info/dynamics_penalty_std | 0.169 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24953, reward mean: 3.3232 +num rollout transitions: 24941, reward mean: 3.3253 +num rollout transitions: 24931, reward mean: 3.3277 +num rollout transitions: 24943, reward mean: 3.3288 +num rollout transitions: 24935, reward mean: 3.3093 +num rollout transitions: 24912, reward mean: 3.3002 +num rollout transitions: 24923, reward mean: 3.2914 +num rollout transitions: 24946, reward mean: 3.3028 +num rollout transitions: 24937, reward mean: 3.3045 +num rollout transitions: 24925, reward mean: 3.3206 +num rollout transitions: 24916, reward mean: 3.3264 +num rollout transitions: 24921, reward mean: 3.3242 +num rollout transitions: 24941, reward mean: 3.3267 +num rollout transitions: 24931, reward mean: 3.3230 +num rollout transitions: 24920, reward mean: 3.3048 +num rollout transitions: 24935, reward mean: 3.3179 +num rollout transitions: 24934, reward mean: 3.3168 +num rollout transitions: 24928, reward mean: 3.2953 +num rollout transitions: 24930, reward mean: 3.3146 +num rollout transitions: 24927, reward mean: 3.3331 +num rollout transitions: 24934, reward 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reward mean: 3.3308 +num rollout transitions: 24931, reward mean: 3.3302 +num rollout transitions: 24911, reward mean: 3.3382 +num rollout transitions: 24965, reward mean: 3.3054 +num rollout transitions: 24918, reward mean: 3.2912 +num rollout transitions: 24937, reward mean: 3.3252 +num rollout transitions: 24908, reward mean: 3.3227 +num rollout transitions: 24940, reward mean: 3.3114 +num rollout transitions: 24954, reward mean: 3.3000 +num rollout transitions: 24951, reward mean: 3.3141 +num rollout transitions: 24927, reward mean: 3.3219 +---------------------------------------------------------------------------------- +| alpha | 0.0241 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.787 | +| loss/actor | -304 | +| loss/alpha | -0.0272 | +| loss/critic | 4.67 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.479 | +| rollout_info/dynamics_penalty_mean | 0.0838 | +| rollout_info/dynamics_penalty_std | 0.174 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24907, reward mean: 3.3180 +num rollout transitions: 24928, reward mean: 3.3325 +num rollout transitions: 24930, reward mean: 3.3094 +num rollout transitions: 24953, reward mean: 3.3043 +num rollout transitions: 24930, reward mean: 3.2950 +num rollout transitions: 24943, reward mean: 3.3182 +num rollout transitions: 24934, reward mean: 3.3093 +num rollout transitions: 24929, reward mean: 3.3034 +num rollout transitions: 24893, reward mean: 3.3320 +num rollout transitions: 24924, reward mean: 3.3175 +num rollout transitions: 24915, reward mean: 3.3128 +num rollout transitions: 24905, reward mean: 3.3005 +num rollout transitions: 24932, reward mean: 3.3129 +num rollout transitions: 24925, reward mean: 3.3057 +num rollout 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+| eval/episode_length | 550 | +| eval/episode_length_std | 300 | +| eval/normalized_episode_reward | 60.6 | +| eval/normalized_episode_reward_std | 35.7 | +| loss/actor | -303 | +| loss/alpha | -0.00133 | +| loss/critic | 3.14 | +| penalty/lcb_mean | 0.216 | +| penalty/lcb_std | 0.461 | +| rollout_info/dynamics_penalty_mean | 0.0828 | +| rollout_info/dynamics_penalty_std | 0.171 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24948, reward mean: 3.3046 +num rollout transitions: 24921, reward mean: 3.3082 +num rollout transitions: 24930, reward mean: 3.3228 +num rollout transitions: 24909, reward mean: 3.3135 +num rollout transitions: 24917, reward mean: 3.3123 +num rollout transitions: 24947, reward mean: 3.3219 +num rollout transitions: 24954, reward mean: 3.3156 +num rollout transitions: 24936, reward mean: 3.3233 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3.3035 +num rollout transitions: 24940, reward mean: 3.2923 +num rollout transitions: 24924, reward mean: 3.2971 +num rollout transitions: 24892, reward mean: 3.3093 +num rollout transitions: 24939, reward mean: 3.3115 +num rollout transitions: 24931, reward mean: 3.2967 +num rollout transitions: 24907, reward mean: 3.2973 +num rollout transitions: 24914, reward mean: 3.2775 +num rollout transitions: 24965, reward mean: 3.3019 +num rollout transitions: 24923, reward mean: 3.2897 +num rollout transitions: 24920, reward mean: 3.2869 +num rollout transitions: 24944, reward mean: 3.2800 +num rollout transitions: 24930, reward mean: 3.2861 +num rollout transitions: 24921, reward mean: 3.3004 +num rollout transitions: 24939, reward mean: 3.3407 +num rollout transitions: 24914, reward mean: 3.3075 +num rollout transitions: 24937, reward mean: 3.2906 +num rollout transitions: 24936, reward mean: 3.3251 +num rollout transitions: 24925, reward mean: 3.3312 +num rollout transitions: 24959, reward mean: 3.3336 +num rollout transitions: 24934, reward mean: 3.3273 +num rollout transitions: 24933, reward mean: 3.3340 +num rollout transitions: 24936, reward mean: 3.3366 +num rollout transitions: 24920, reward mean: 3.2949 +---------------------------------------------------------------------------------- +| alpha | 0.0227 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.721 | +| loss/actor | -304 | +| loss/alpha | 0.0228 | +| loss/critic | 4.71 | +| penalty/lcb_mean | 0.218 | +| penalty/lcb_std | 0.468 | +| rollout_info/dynamics_penalty_mean | 0.0841 | +| rollout_info/dynamics_penalty_std | 0.174 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24939, reward mean: 3.2855 +num rollout transitions: 24935, reward mean: 3.3240 +num rollout transitions: 24935, reward mean: 3.3009 +num rollout transitions: 24950, reward mean: 3.2981 +num rollout transitions: 24928, reward mean: 3.2991 +num rollout transitions: 24940, reward mean: 3.2886 +num rollout transitions: 24946, reward mean: 3.3055 +num rollout transitions: 24907, reward mean: 3.3115 +num rollout transitions: 24915, reward mean: 3.3014 +num rollout transitions: 24946, reward mean: 3.2922 +num rollout transitions: 24923, reward mean: 3.3124 +num rollout transitions: 24937, reward mean: 3.3052 +num rollout transitions: 24917, reward mean: 3.3290 +num rollout transitions: 24942, reward mean: 3.3311 +num rollout transitions: 24915, reward mean: 3.3030 +num rollout transitions: 24940, reward mean: 3.3121 +num rollout transitions: 24945, reward mean: 3.3076 +num rollout transitions: 24910, reward mean: 3.2853 +num rollout transitions: 24955, reward mean: 3.3076 +num rollout transitions: 24946, reward mean: 3.3111 +num rollout transitions: 24932, reward 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reward mean: 3.3281 +num rollout transitions: 24914, reward mean: 3.3319 +num rollout transitions: 24909, reward mean: 3.3170 +num rollout transitions: 24923, reward mean: 3.3177 +num rollout transitions: 24944, reward mean: 3.3097 +num rollout transitions: 24923, reward mean: 3.3185 +num rollout transitions: 24920, reward mean: 3.2946 +num rollout transitions: 24929, reward mean: 3.2955 +num rollout transitions: 24909, reward mean: 3.3021 +num rollout transitions: 24940, reward mean: 3.3061 +num rollout transitions: 24929, reward mean: 3.2967 +---------------------------------------------------------------------------------- +| alpha | 0.0213 | +| eval/episode_length | 957 | +| eval/episode_length_std | 115 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 12.8 | +| loss/actor | -304 | +| loss/alpha | -0.0336 | +| loss/critic | 3.17 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.456 | +| rollout_info/dynamics_penalty_mean | 0.0766 | +| rollout_info/dynamics_penalty_std | 0.165 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24909, reward mean: 3.3306 +num rollout transitions: 24944, reward mean: 3.3275 +num rollout transitions: 24910, reward mean: 3.3050 +num rollout transitions: 24929, reward mean: 3.3168 +num rollout transitions: 24943, reward mean: 3.3163 +num rollout transitions: 24944, reward mean: 3.3233 +num rollout transitions: 24904, reward mean: 3.2959 +num rollout transitions: 24921, reward mean: 3.2880 +num rollout transitions: 24924, reward mean: 3.3289 +num rollout transitions: 24924, reward mean: 3.3236 +num rollout transitions: 24926, reward mean: 3.3159 +num rollout transitions: 24929, reward mean: 3.3144 +num rollout transitions: 24931, reward mean: 3.3130 +num rollout transitions: 24897, reward mean: 3.3118 +num rollout 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rollout transitions: 24932, reward mean: 3.3034 +num rollout transitions: 24937, reward mean: 3.2933 +num rollout transitions: 24937, reward mean: 3.3089 +num rollout transitions: 24940, reward mean: 3.3225 +num rollout transitions: 24928, reward mean: 3.3040 +num rollout transitions: 24921, reward mean: 3.3057 +num rollout transitions: 24940, reward mean: 3.2851 +num rollout transitions: 24952, reward mean: 3.3197 +num rollout transitions: 24940, reward mean: 3.3282 +num rollout transitions: 24916, reward mean: 3.2813 +num rollout transitions: 24908, reward mean: 3.3195 +num rollout transitions: 24914, reward mean: 3.2985 +num rollout transitions: 24942, reward mean: 3.3171 +num rollout transitions: 24949, reward mean: 3.3205 +num rollout transitions: 24924, reward mean: 3.3225 +num rollout transitions: 24926, reward mean: 3.3117 +num rollout transitions: 24908, reward mean: 3.2922 +---------------------------------------------------------------------------------- +| alpha | 0.0218 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.744 | +| loss/actor | -301 | +| loss/alpha | 0.00496 | +| loss/critic | 3.8 | +| penalty/lcb_mean | 0.225 | +| penalty/lcb_std | 0.479 | +| rollout_info/dynamics_penalty_mean | 0.0755 | +| rollout_info/dynamics_penalty_std | 0.161 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24926, reward mean: 3.2947 +num rollout transitions: 24940, reward mean: 3.2968 +num rollout transitions: 24949, reward mean: 3.2827 +num rollout transitions: 24948, reward mean: 3.3060 +num rollout transitions: 24926, reward mean: 3.2972 +num rollout transitions: 24963, reward mean: 3.3114 +num rollout transitions: 24941, reward mean: 3.3215 +num rollout transitions: 24939, reward mean: 3.2982 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3.2915 +num rollout transitions: 24925, reward mean: 3.3024 +num rollout transitions: 24899, reward mean: 3.3020 +num rollout transitions: 24923, reward mean: 3.3119 +num rollout transitions: 24935, reward mean: 3.3002 +num rollout transitions: 24937, reward mean: 3.2756 +num rollout transitions: 24927, reward mean: 3.2921 +num rollout transitions: 24931, reward mean: 3.2846 +num rollout transitions: 24926, reward mean: 3.2680 +num rollout transitions: 24949, reward mean: 3.2968 +num rollout transitions: 24950, reward mean: 3.3065 +num rollout transitions: 24918, reward mean: 3.3127 +num rollout transitions: 24942, reward mean: 3.3018 +num rollout transitions: 24931, reward mean: 3.3158 +num rollout transitions: 24920, reward mean: 3.3001 +num rollout transitions: 24935, reward mean: 3.2927 +num rollout transitions: 24939, reward mean: 3.2937 +num rollout transitions: 24903, reward mean: 3.3030 +num rollout transitions: 24942, reward mean: 3.3357 +num rollout transitions: 24922, reward mean: 3.3057 +num rollout transitions: 24965, reward mean: 3.3060 +num rollout transitions: 24900, reward mean: 3.3257 +num rollout transitions: 24939, reward mean: 3.2809 +num rollout transitions: 24949, reward mean: 3.2836 +---------------------------------------------------------------------------------- +| alpha | 0.0212 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.728 | +| loss/actor | -301 | +| loss/alpha | 0.0364 | +| loss/critic | 4.14 | +| penalty/lcb_mean | 0.228 | +| penalty/lcb_std | 0.501 | +| rollout_info/dynamics_penalty_mean | 0.0745 | +| rollout_info/dynamics_penalty_std | 0.159 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.3 | +| timestep | 2750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24958, reward mean: 3.3173 +num rollout transitions: 24928, reward mean: 3.3076 +num rollout transitions: 24940, reward mean: 3.3171 +num rollout transitions: 24925, reward mean: 3.3075 +num rollout transitions: 24931, reward mean: 3.3047 +num rollout transitions: 24943, reward mean: 3.3148 +num rollout transitions: 24913, reward mean: 3.3147 +num rollout transitions: 24912, reward mean: 3.2886 +num rollout transitions: 24927, reward mean: 3.3125 +num rollout transitions: 24926, reward mean: 3.2945 +num rollout transitions: 24940, reward mean: 3.3313 +num rollout transitions: 24940, reward mean: 3.3038 +num rollout transitions: 24946, reward mean: 3.2878 +num rollout transitions: 24928, reward mean: 3.3019 +num rollout transitions: 24921, reward mean: 3.3099 +num rollout transitions: 24933, reward mean: 3.3117 +num rollout transitions: 24943, reward mean: 3.3062 +num rollout transitions: 24944, reward mean: 3.2943 +num rollout transitions: 24916, reward mean: 3.3099 +num rollout transitions: 24932, reward mean: 3.3009 +num rollout transitions: 24921, reward mean: 3.3049 +num rollout transitions: 24927, reward mean: 3.2889 +num rollout transitions: 24929, reward mean: 3.3038 +num rollout transitions: 24953, reward mean: 3.2898 +num rollout transitions: 24941, reward mean: 3.3168 +num rollout transitions: 24919, reward mean: 3.2994 +num rollout transitions: 24953, reward mean: 3.2939 +num rollout transitions: 24900, reward mean: 3.3142 +num rollout transitions: 24925, reward mean: 3.3074 +num rollout transitions: 24943, reward mean: 3.3353 +num rollout transitions: 24928, reward mean: 3.3195 +num rollout transitions: 24928, reward mean: 3.2985 +num rollout transitions: 24944, reward mean: 3.3072 +num rollout transitions: 24953, reward mean: 3.3052 +num rollout transitions: 24945, reward mean: 3.3168 +num rollout transitions: 24916, reward mean: 3.2898 +num rollout transitions: 24909, reward mean: 3.3018 +num rollout transitions: 24943, reward mean: 3.3000 +num rollout transitions: 24910, reward mean: 3.3075 +num rollout transitions: 24958, 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rollout_info/dynamics_penalty_std | 0.162 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24959, reward mean: 3.3016 +num rollout transitions: 24917, reward mean: 3.3254 +num rollout transitions: 24931, reward mean: 3.3251 +num rollout transitions: 24940, reward mean: 3.3098 +num rollout transitions: 24919, reward mean: 3.3070 +num rollout transitions: 24926, reward mean: 3.3007 +num rollout transitions: 24928, reward mean: 3.3027 +num rollout transitions: 24918, reward mean: 3.2955 +num rollout transitions: 24934, reward mean: 3.3093 +num rollout transitions: 24936, reward mean: 3.2785 +num rollout transitions: 24914, reward mean: 3.2892 +num rollout transitions: 24890, reward mean: 3.2758 +num rollout transitions: 24943, reward mean: 3.3066 +num rollout transitions: 24934, reward mean: 3.3190 +num rollout 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+| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.714 | +| loss/actor | -295 | +| loss/alpha | -0.255 | +| loss/critic | 3.22 | +| penalty/lcb_mean | 0.259 | +| penalty/lcb_std | 0.573 | +| rollout_info/dynamics_penalty_mean | 0.0694 | +| rollout_info/dynamics_penalty_std | 0.15 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.29 | +| timestep | 3000000 | +---------------------------------------------------------------------------------- +total time: 60152.02s diff --git a/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/dynamics_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/dynamics_training_progress.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/hyper_param.json b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/hyper_param.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5c6fb80cfb2bfa9528b3657f6155ba51693100 --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/hyper_param.json @@ -0,0 +1 @@ +{"config": "config_gormpo/hopper_medium_expert_7_neuralode.yaml", "algo_name": "mobile_gormpo", "task": "hopper-medium-expert-v2", "seed": 123, "device": "cuda:3", "dataset_path": "/public/d4rl/sparse_datasets/hopper_medium_expert_sparse_78.pkl", "dynamics_path": "log/hopper-medium-expert-v2/seed_123×tamp_26-0112-030632/model", "reward_penalty_coef": 0.3, "classifier_model_name": "/public/gormpo/models/hopper_medium_expert_sparse_3/neuralODE", "use_wandb": true, "wandb_project": "mobile-gormpo", "wandb_entity": null, "domain": "gym", "actor_lr": 0.0001, "critic_lr": 0.0003, "hidden_dims": [256, 256], "gamma": 0.99, "tau": 0.005, "alpha": 0.2, "auto_alpha": true, "target_entropy": -3.0, "alpha_lr": 0.0001, "deterministic_backup": true, "max_q_backup": false, "norm_reward": false, "num_q_ensemble": 2, "dynamics_lr": 0.001, "dynamics_max_epochs": null, "max_epochs_since_update": 5, "dynamics_hidden_dims": [200, 200, 200, 200], "dynamics_weight_decay": [2.5e-05, 5e-05, 7.5e-05, 7.5e-05, 0.0001], "n_ensemble": 7, "n_elites": 5, "rollout_freq": 1000, "rollout_batch_size": 5000, "rollout_length": 5, "penalty_coef": 1.5, "num_samples": 10, "model_retain_epochs": 5, "real_ratio": 0.05, "load_dynamics_path": null, "epoch": 3000, "step_per_epoch": 1000, "eval_episodes": 100, "batch_size": 256, "lr_scheduler": true, "penalty_type": "tanh", "density_model": "neuralODE", "target_dim": 14, "obs_shape": [11], "action_dim": 3.0, "max_action": 1.0, "classifier_type": "neuralODE"} diff --git a/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/policy_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/policy_training_progress.csv new file mode 100644 index 0000000000000000000000000000000000000000..e7485fb9fc4334245143125a10dfadcc76c07849 --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_123×tamp_26-0506-193304/record/policy_training_progress.csv @@ -0,0 +1,61 @@ +alpha,eval/episode_length,eval/episode_length_std,eval/normalized_episode_reward,eval/normalized_episode_reward_std,loss/actor,loss/alpha,loss/critic,penalty/lcb_mean,penalty/lcb_std,rollout_info/dynamics_penalty_mean,rollout_info/dynamics_penalty_std,rollout_info/num_transitions,rollout_info/reward_mean,timestep 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+| loss/actor | -358 | +| loss/alpha | 0.0154 | +| loss/critic | 11.1 | +| penalty/lcb_mean | 0.259 | +| penalty/lcb_std | 0.527 | +| rollout_info/dynamics_penalty_mean | 0.237 | +| rollout_info/dynamics_penalty_std | 0.294 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.33 | +| timestep | 100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24924, reward mean: 3.3149 +num rollout transitions: 24923, reward mean: 3.2989 +num rollout transitions: 24905, reward mean: 3.3022 +num rollout transitions: 24915, reward mean: 3.3385 +num rollout transitions: 24939, reward mean: 3.3166 +num rollout transitions: 24931, reward mean: 3.3291 +num rollout transitions: 24951, reward mean: 3.3288 +num rollout transitions: 24949, reward mean: 3.3270 +num rollout transitions: 24942, reward mean: 3.3025 +num rollout transitions: 24919, reward mean: 3.3089 +num rollout transitions: 24927, reward mean: 3.3193 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mean: 3.3030 +num rollout transitions: 24936, reward mean: 3.3102 +---------------------------------------------------------------------------------- +| alpha | 0.047 | +| eval/episode_length | 69.3 | +| eval/episode_length_std | 0.823 | +| eval/normalized_episode_reward | 4.94 | +| eval/normalized_episode_reward_std | 0.679 | +| loss/actor | -324 | +| loss/alpha | -0.0355 | +| loss/critic | 6.75 | +| penalty/lcb_mean | 0.216 | +| penalty/lcb_std | 0.386 | +| rollout_info/dynamics_penalty_mean | 0.176 | +| rollout_info/dynamics_penalty_std | 0.259 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24952, reward mean: 3.3338 +num rollout transitions: 24947, reward mean: 3.3066 +num rollout transitions: 24926, reward mean: 3.2852 +num rollout transitions: 24921, reward mean: 3.3127 +num rollout transitions: 24938, reward 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reward mean: 3.2854 +num rollout transitions: 24928, reward mean: 3.3202 +num rollout transitions: 24932, reward mean: 3.3259 +num rollout transitions: 24946, reward mean: 3.3393 +num rollout transitions: 24918, reward mean: 3.2705 +num rollout transitions: 24931, reward mean: 3.3329 +num rollout transitions: 24924, reward mean: 3.3195 +num rollout transitions: 24934, reward mean: 3.3162 +num rollout transitions: 24924, reward mean: 3.3384 +num rollout transitions: 24933, reward mean: 3.3341 +num rollout transitions: 24914, reward mean: 3.3031 +num rollout transitions: 24923, reward mean: 3.3119 +num rollout transitions: 24948, reward mean: 3.3295 +num rollout transitions: 24896, reward mean: 3.3043 +num rollout transitions: 24915, reward mean: 3.3100 +num rollout transitions: 24917, reward mean: 3.3077 +num rollout transitions: 24925, reward mean: 3.2857 +num rollout transitions: 24924, reward mean: 3.3144 +num rollout transitions: 24937, reward mean: 3.3179 +num rollout transitions: 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rollout transitions: 24934, reward mean: 3.2735 +num rollout transitions: 24917, reward mean: 3.2891 +num rollout transitions: 24936, reward mean: 3.3149 +num rollout transitions: 24917, reward mean: 3.2836 +num rollout transitions: 24922, reward mean: 3.3332 +num rollout transitions: 24935, reward mean: 3.3138 +num rollout transitions: 24907, reward mean: 3.3155 +num rollout transitions: 24916, reward mean: 3.3266 +num rollout transitions: 24922, reward mean: 3.3170 +num rollout transitions: 24944, reward mean: 3.3162 +num rollout transitions: 24951, reward mean: 3.3239 +num rollout transitions: 24930, reward mean: 3.3126 +num rollout transitions: 24931, reward mean: 3.2854 +num rollout transitions: 24947, reward mean: 3.2967 +---------------------------------------------------------------------------------- +| alpha | 0.0376 | +| eval/episode_length | 279 | +| eval/episode_length_std | 13.7 | +| eval/normalized_episode_reward | 31.2 | +| eval/normalized_episode_reward_std | 2.12 | +| loss/actor | -308 | +| loss/alpha | 0.00362 | +| loss/critic | 7.53 | +| penalty/lcb_mean | 0.185 | +| penalty/lcb_std | 0.366 | +| rollout_info/dynamics_penalty_mean | 0.133 | +| rollout_info/dynamics_penalty_std | 0.219 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24947, reward mean: 3.3330 +num rollout transitions: 24943, reward mean: 3.3189 +num rollout transitions: 24938, reward mean: 3.3241 +num rollout transitions: 24939, reward mean: 3.3154 +num rollout transitions: 24919, reward mean: 3.3084 +num rollout transitions: 24915, reward mean: 3.3134 +num rollout transitions: 24924, reward mean: 3.3223 +num rollout transitions: 24940, reward mean: 3.2836 +num rollout transitions: 24948, reward mean: 3.2619 +num rollout transitions: 24917, reward mean: 3.3287 +num rollout transitions: 24948, reward mean: 3.3103 +num 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mean: 3.3210 +num rollout transitions: 24953, reward mean: 3.3370 +---------------------------------------------------------------------------------- +| alpha | 0.0323 | +| eval/episode_length | 32.6 | +| eval/episode_length_std | 0.747 | +| eval/normalized_episode_reward | 2.03 | +| eval/normalized_episode_reward_std | 0.666 | +| loss/actor | -314 | +| loss/alpha | -0.0216 | +| loss/critic | 6.22 | +| penalty/lcb_mean | 0.181 | +| penalty/lcb_std | 0.347 | +| rollout_info/dynamics_penalty_mean | 0.151 | +| rollout_info/dynamics_penalty_std | 0.239 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24927, reward mean: 3.3163 +num rollout transitions: 24919, reward mean: 3.3247 +num rollout transitions: 24919, reward mean: 3.3178 +num rollout transitions: 24945, reward mean: 3.3542 +num rollout transitions: 24931, reward 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reward mean: 3.2967 +num rollout transitions: 24929, reward mean: 3.3134 +num rollout transitions: 24902, reward mean: 3.3349 +num rollout transitions: 24936, reward mean: 3.3353 +num rollout transitions: 24920, reward mean: 3.3203 +num rollout transitions: 24925, reward mean: 3.3295 +num rollout transitions: 24949, reward mean: 3.3196 +num rollout transitions: 24935, reward mean: 3.3169 +num rollout transitions: 24946, reward mean: 3.3322 +num rollout transitions: 24930, reward mean: 3.3048 +num rollout transitions: 24930, reward mean: 3.3156 +num rollout transitions: 24918, reward mean: 3.3452 +num rollout transitions: 24924, reward mean: 3.3449 +num rollout transitions: 24945, reward mean: 3.3186 +num rollout transitions: 24919, reward mean: 3.3201 +num rollout transitions: 24947, reward mean: 3.3299 +num rollout transitions: 24952, reward mean: 3.3246 +num rollout transitions: 24920, reward mean: 3.3247 +num rollout transitions: 24933, reward mean: 3.3349 +num rollout transitions: 24942, reward mean: 3.3096 +num rollout transitions: 24936, reward mean: 3.3341 +num rollout transitions: 24970, reward mean: 3.3236 +num rollout transitions: 24945, reward mean: 3.3156 +num rollout transitions: 24936, reward mean: 3.3250 +num rollout transitions: 24942, reward mean: 3.3613 +num rollout transitions: 24940, reward mean: 3.3335 +num rollout transitions: 24936, reward mean: 3.3346 +---------------------------------------------------------------------------------- +| alpha | 0.0299 | +| eval/episode_length | 349 | +| eval/episode_length_std | 3.85 | +| eval/normalized_episode_reward | 38.6 | +| eval/normalized_episode_reward_std | 1.14 | +| loss/actor | -316 | +| loss/alpha | -0.00418 | +| loss/critic | 5.43 | +| penalty/lcb_mean | 0.177 | +| penalty/lcb_std | 0.352 | +| rollout_info/dynamics_penalty_mean | 0.135 | +| rollout_info/dynamics_penalty_std | 0.235 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.33 | +| timestep | 350000 | 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rollout transitions: 24935, reward mean: 3.3089 +num rollout transitions: 24958, reward mean: 3.2992 +num rollout transitions: 24936, reward mean: 3.3442 +num rollout transitions: 24933, reward mean: 3.3460 +num rollout transitions: 24953, reward mean: 3.3043 +num rollout transitions: 24947, reward mean: 3.3006 +num rollout transitions: 24915, reward mean: 3.3225 +num rollout transitions: 24955, reward mean: 3.3419 +num rollout transitions: 24933, reward mean: 3.3368 +num rollout transitions: 24952, reward mean: 3.3297 +num rollout transitions: 24926, reward mean: 3.3403 +num rollout transitions: 24950, reward mean: 3.3392 +num rollout transitions: 24910, reward mean: 3.3282 +num rollout transitions: 24939, reward mean: 3.3291 +---------------------------------------------------------------------------------- +| alpha | 0.0315 | +| eval/episode_length | 953 | +| eval/episode_length_std | 88.5 | +| eval/normalized_episode_reward | 105 | +| eval/normalized_episode_reward_std | 9.99 | +| loss/actor | -310 | +| loss/alpha | 0.0131 | +| loss/critic | 6.7 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.383 | +| rollout_info/dynamics_penalty_mean | 0.116 | +| rollout_info/dynamics_penalty_std | 0.21 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24918, reward mean: 3.3273 +num rollout transitions: 24947, reward mean: 3.3354 +num rollout transitions: 24920, reward mean: 3.2895 +num rollout transitions: 24933, reward mean: 3.3315 +num rollout transitions: 24942, reward mean: 3.3152 +num rollout transitions: 24932, reward mean: 3.2939 +num rollout transitions: 24937, reward mean: 3.3056 +num rollout transitions: 24978, reward mean: 3.3491 +num rollout transitions: 24931, reward mean: 3.2899 +num rollout transitions: 24938, reward mean: 3.2880 +num rollout transitions: 24941, reward mean: 3.3285 +num 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mean: 3.3510 +num rollout transitions: 24940, reward mean: 3.3099 +---------------------------------------------------------------------------------- +| alpha | 0.0295 | +| eval/episode_length | 134 | +| eval/episode_length_std | 0.872 | +| eval/normalized_episode_reward | 10.6 | +| eval/normalized_episode_reward_std | 0.682 | +| loss/actor | -308 | +| loss/alpha | 0.00591 | +| loss/critic | 4.75 | +| penalty/lcb_mean | 0.183 | +| penalty/lcb_std | 0.377 | +| rollout_info/dynamics_penalty_mean | 0.0864 | +| rollout_info/dynamics_penalty_std | 0.18 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24944, reward mean: 3.3321 +num rollout transitions: 24902, reward mean: 3.3229 +num rollout transitions: 24934, reward mean: 3.3286 +num rollout transitions: 24934, reward mean: 3.3331 +num rollout transitions: 24910, reward mean: 3.3299 +num rollout transitions: 24910, reward mean: 3.3287 +num rollout transitions: 24953, reward mean: 3.3205 +num rollout transitions: 24908, reward mean: 3.3042 +num rollout transitions: 24935, reward mean: 3.3365 +num rollout transitions: 24917, reward mean: 3.3410 +num rollout transitions: 24920, reward mean: 3.3262 +num rollout transitions: 24945, reward mean: 3.3173 +num rollout transitions: 24912, reward mean: 3.3119 +num rollout transitions: 24932, reward mean: 3.3232 +num rollout transitions: 24924, reward mean: 3.3106 +num rollout transitions: 24944, reward mean: 3.3294 +num rollout transitions: 24927, reward mean: 3.3403 +num rollout transitions: 24922, reward mean: 3.3401 +num rollout transitions: 24963, reward mean: 3.3281 +num rollout transitions: 24939, reward mean: 3.3061 +num rollout transitions: 24919, reward mean: 3.3100 +num rollout transitions: 24941, reward mean: 3.3227 +num rollout transitions: 24916, reward mean: 3.3530 +num rollout transitions: 24952, reward mean: 3.3448 +num rollout transitions: 24919, reward mean: 3.3692 +num rollout transitions: 24937, reward mean: 3.3382 +num rollout transitions: 24935, reward mean: 3.3459 +num rollout transitions: 24910, reward mean: 3.3489 +num rollout transitions: 24938, reward mean: 3.3381 +num rollout transitions: 24924, reward mean: 3.3491 +num rollout transitions: 24940, reward mean: 3.3265 +num rollout transitions: 24932, reward mean: 3.3524 +num rollout transitions: 24930, reward mean: 3.3354 +num rollout transitions: 24881, reward mean: 3.3552 +num rollout transitions: 24913, reward mean: 3.3449 +num rollout transitions: 24948, reward mean: 3.2950 +num rollout transitions: 24915, reward mean: 3.3369 +num rollout transitions: 24939, reward mean: 3.3132 +num rollout transitions: 24928, reward mean: 3.3444 +num rollout transitions: 24947, reward mean: 3.3309 +num rollout transitions: 24948, reward mean: 3.3199 +num rollout transitions: 24913, reward mean: 3.3126 +num rollout transitions: 24943, reward mean: 3.3543 +num rollout transitions: 24952, reward mean: 3.3418 +num rollout transitions: 24937, reward mean: 3.3453 +num rollout transitions: 24910, reward mean: 3.3326 +num rollout transitions: 24919, reward mean: 3.3033 +num rollout transitions: 24952, reward mean: 3.3162 +num rollout transitions: 24926, reward mean: 3.3287 +num rollout transitions: 24944, reward mean: 3.3243 +---------------------------------------------------------------------------------- +| alpha | 0.0303 | +| eval/episode_length | 733 | +| eval/episode_length_std | 356 | +| eval/normalized_episode_reward | 81.6 | +| eval/normalized_episode_reward_std | 41.3 | +| loss/actor | -306 | +| loss/alpha | 0.00143 | +| loss/critic | 6.54 | +| penalty/lcb_mean | 0.192 | +| penalty/lcb_std | 0.403 | +| rollout_info/dynamics_penalty_mean | 0.0928 | +| rollout_info/dynamics_penalty_std | 0.188 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.33 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24916, reward mean: 3.3162 +num rollout transitions: 24916, reward mean: 3.3309 +num rollout transitions: 24935, reward mean: 3.3292 +num rollout transitions: 24898, reward mean: 3.3078 +num rollout transitions: 24938, reward mean: 3.3327 +num rollout transitions: 24918, reward mean: 3.3266 +num rollout transitions: 24919, reward mean: 3.3110 +num rollout transitions: 24960, reward mean: 3.2912 +num rollout transitions: 24912, reward mean: 3.3435 +num rollout transitions: 24923, reward mean: 3.3015 +num rollout transitions: 24920, reward mean: 3.3108 +num rollout transitions: 24931, reward mean: 3.2991 +num rollout transitions: 24940, reward mean: 3.3037 +num rollout transitions: 24934, reward mean: 3.3303 +num rollout transitions: 24966, reward mean: 3.3057 +num rollout transitions: 24914, reward mean: 3.3194 +num rollout transitions: 24923, reward mean: 3.3000 +num rollout transitions: 24962, reward mean: 3.3492 +num rollout transitions: 24953, reward mean: 3.3355 +num rollout transitions: 24935, reward mean: 3.3069 +num rollout transitions: 24937, reward mean: 3.3445 +num rollout transitions: 24922, reward mean: 3.3136 +num rollout transitions: 24917, reward mean: 3.3104 +num rollout transitions: 24918, reward mean: 3.3095 +num rollout transitions: 24942, reward mean: 3.3249 +num rollout transitions: 24937, reward mean: 3.3225 +num rollout transitions: 24938, reward mean: 3.2683 +num rollout transitions: 24937, reward mean: 3.3197 +num rollout transitions: 24927, reward mean: 3.3235 +num rollout transitions: 24952, reward mean: 3.3324 +num rollout transitions: 24947, reward mean: 3.3538 +num rollout transitions: 24937, reward mean: 3.3459 +num rollout transitions: 24952, reward mean: 3.3306 +num rollout transitions: 24931, reward mean: 3.3172 +num rollout transitions: 24897, reward mean: 3.3148 +num rollout transitions: 24942, reward mean: 3.3206 +num rollout transitions: 24910, reward mean: 3.3341 +num rollout transitions: 24920, reward mean: 3.3371 +num rollout transitions: 24957, reward mean: 3.3144 +num rollout transitions: 24944, reward mean: 3.3561 +num rollout transitions: 24909, reward mean: 3.3266 +num rollout transitions: 24923, reward mean: 3.3087 +num rollout transitions: 24913, reward mean: 3.3072 +num rollout transitions: 24924, reward mean: 3.2922 +num rollout transitions: 24897, reward mean: 3.3232 +num rollout transitions: 24935, reward mean: 3.2996 +num rollout transitions: 24947, reward mean: 3.3013 +num rollout transitions: 24894, reward mean: 3.3001 +num rollout transitions: 24922, reward mean: 3.3070 +num rollout transitions: 24950, reward mean: 3.2907 +---------------------------------------------------------------------------------- +| alpha | 0.0305 | +| eval/episode_length | 38 | +| eval/episode_length_std | 0.721 | +| eval/normalized_episode_reward | 2.37 | +| eval/normalized_episode_reward_std | 0.674 | +| loss/actor | -306 | +| loss/alpha | 0.0217 | +| loss/critic | 5.89 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.404 | +| rollout_info/dynamics_penalty_mean | 0.0785 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24923, reward mean: 3.3064 +num rollout transitions: 24936, reward mean: 3.2965 +num rollout transitions: 24958, reward mean: 3.3108 +num rollout transitions: 24956, reward mean: 3.3088 +num rollout transitions: 24936, reward mean: 3.3234 +num rollout transitions: 24942, reward mean: 3.3329 +num rollout transitions: 24944, reward mean: 3.2847 +num rollout transitions: 24933, reward mean: 3.3063 +num rollout transitions: 24943, reward mean: 3.2980 +num rollout transitions: 24970, reward mean: 3.3079 +num rollout transitions: 24932, reward mean: 3.3137 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3.3099 +num rollout transitions: 24913, reward mean: 3.3368 +num rollout transitions: 24923, reward mean: 3.3252 +num rollout transitions: 24954, reward mean: 3.3268 +num rollout transitions: 24949, reward mean: 3.3173 +num rollout transitions: 24928, reward mean: 3.2868 +num rollout transitions: 24939, reward mean: 3.3150 +num rollout transitions: 24922, reward mean: 3.3332 +num rollout transitions: 24897, reward mean: 3.3205 +num rollout transitions: 24945, reward mean: 3.3162 +num rollout transitions: 24910, reward mean: 3.3244 +num rollout transitions: 24933, reward mean: 3.3457 +num rollout transitions: 24905, reward mean: 3.3557 +num rollout transitions: 24938, reward mean: 3.3060 +num rollout transitions: 24940, reward mean: 3.3138 +num rollout transitions: 24930, reward mean: 3.3098 +num rollout transitions: 24945, reward mean: 3.3304 +num rollout transitions: 24949, reward mean: 3.3105 +num rollout transitions: 24932, reward mean: 3.3098 +num rollout transitions: 24894, reward mean: 3.3191 +num rollout transitions: 24926, reward mean: 3.3274 +---------------------------------------------------------------------------------- +| alpha | 0.0305 | +| eval/episode_length | 214 | +| eval/episode_length_std | 0.654 | +| eval/normalized_episode_reward | 20.3 | +| eval/normalized_episode_reward_std | 0.687 | +| loss/actor | -307 | +| loss/alpha | -0.00143 | +| loss/critic | 6.38 | +| penalty/lcb_mean | 0.196 | +| penalty/lcb_std | 0.407 | +| rollout_info/dynamics_penalty_mean | 0.0881 | +| rollout_info/dynamics_penalty_std | 0.172 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24943, reward mean: 3.3062 +num rollout transitions: 24946, reward mean: 3.3139 +num rollout transitions: 24938, reward mean: 3.3080 +num rollout transitions: 24927, reward mean: 3.3215 +num rollout transitions: 24948, reward 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reward mean: 3.3223 +num rollout transitions: 24947, reward mean: 3.3147 +num rollout transitions: 24926, reward mean: 3.3411 +num rollout transitions: 24934, reward mean: 3.3526 +num rollout transitions: 24952, reward mean: 3.3348 +num rollout transitions: 24917, reward mean: 3.3121 +num rollout transitions: 24940, reward mean: 3.3175 +num rollout transitions: 24926, reward mean: 3.3352 +num rollout transitions: 24938, reward mean: 3.2959 +num rollout transitions: 24937, reward mean: 3.3260 +num rollout transitions: 24919, reward mean: 3.2900 +num rollout transitions: 24941, reward mean: 3.3218 +num rollout transitions: 24927, reward mean: 3.3177 +num rollout transitions: 24906, reward mean: 3.3061 +num rollout transitions: 24905, reward mean: 3.3087 +num rollout transitions: 24940, reward mean: 3.2962 +num rollout transitions: 24954, reward mean: 3.2899 +num rollout transitions: 24925, reward mean: 3.2794 +num rollout transitions: 24941, reward mean: 3.3003 +num rollout transitions: 24935, reward mean: 3.3196 +num rollout transitions: 24933, reward mean: 3.3240 +num rollout transitions: 24936, reward mean: 3.2968 +num rollout transitions: 24932, reward mean: 3.3436 +num rollout transitions: 24944, reward mean: 3.3093 +num rollout transitions: 24915, reward mean: 3.3106 +num rollout transitions: 24920, reward mean: 3.3020 +num rollout transitions: 24912, reward mean: 3.3377 +---------------------------------------------------------------------------------- +| alpha | 0.031 | +| eval/episode_length | 221 | +| eval/episode_length_std | 0.661 | +| eval/normalized_episode_reward | 21.2 | +| eval/normalized_episode_reward_std | 0.674 | +| loss/actor | -309 | +| loss/alpha | 0.0306 | +| loss/critic | 6.47 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.435 | +| rollout_info/dynamics_penalty_mean | 0.0957 | +| rollout_info/dynamics_penalty_std | 0.183 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24928, reward mean: 3.3351 +num rollout transitions: 24923, reward mean: 3.3094 +num rollout transitions: 24949, reward mean: 3.3078 +num rollout transitions: 24942, reward mean: 3.3276 +num rollout transitions: 24936, reward mean: 3.3012 +num rollout transitions: 24923, reward mean: 3.3176 +num rollout transitions: 24927, reward mean: 3.3326 +num rollout transitions: 24941, reward mean: 3.3341 +num rollout transitions: 24939, reward mean: 3.2904 +num rollout transitions: 24922, reward mean: 3.3291 +num rollout transitions: 24912, reward mean: 3.2998 +num rollout transitions: 24962, reward mean: 3.2958 +num rollout transitions: 24956, reward mean: 3.3149 +num rollout transitions: 24934, reward mean: 3.3083 +num rollout transitions: 24929, reward mean: 3.3090 +num rollout transitions: 24939, reward mean: 3.3276 +num rollout transitions: 24939, reward mean: 3.3184 +num rollout 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rollout transitions: 24942, reward mean: 3.3002 +num rollout transitions: 24928, reward mean: 3.2891 +num rollout transitions: 24917, reward mean: 3.3340 +num rollout transitions: 24929, reward mean: 3.3043 +num rollout transitions: 24900, reward mean: 3.3100 +num rollout transitions: 24935, reward mean: 3.2953 +num rollout transitions: 24939, reward mean: 3.3325 +num rollout transitions: 24940, reward mean: 3.2987 +num rollout transitions: 24946, reward mean: 3.3181 +num rollout transitions: 24927, reward mean: 3.2848 +num rollout transitions: 24926, reward mean: 3.2873 +num rollout transitions: 24924, reward mean: 3.3008 +num rollout transitions: 24945, reward mean: 3.3082 +num rollout transitions: 24922, reward mean: 3.3282 +---------------------------------------------------------------------------------- +| alpha | 0.0302 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 110 | +| eval/normalized_episode_reward_std | 0.836 | +| loss/actor | -310 | +| loss/alpha | -0.0215 | +| loss/critic | 7.23 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.426 | +| rollout_info/dynamics_penalty_mean | 0.106 | +| rollout_info/dynamics_penalty_std | 0.194 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24940, reward mean: 3.3201 +num rollout transitions: 24941, reward mean: 3.3255 +num rollout transitions: 24906, reward mean: 3.3142 +num rollout transitions: 24918, reward mean: 3.3142 +num rollout transitions: 24932, reward mean: 3.3062 +num rollout transitions: 24944, reward mean: 3.3090 +num rollout transitions: 24935, reward mean: 3.3147 +num rollout transitions: 24934, reward mean: 3.2979 +num rollout transitions: 24970, reward mean: 3.3005 +num rollout transitions: 24901, reward mean: 3.3029 +num rollout transitions: 24926, reward mean: 3.2925 +num 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3.3270 +num rollout transitions: 24912, reward mean: 3.3287 +num rollout transitions: 24941, reward mean: 3.3389 +num rollout transitions: 24926, reward mean: 3.3299 +num rollout transitions: 24943, reward mean: 3.3313 +num rollout transitions: 24936, reward mean: 3.3324 +num rollout transitions: 24927, reward mean: 3.3219 +num rollout transitions: 24938, reward mean: 3.3288 +num rollout transitions: 24897, reward mean: 3.3288 +num rollout transitions: 24924, reward mean: 3.3308 +num rollout transitions: 24944, reward mean: 3.3158 +num rollout transitions: 24941, reward mean: 3.3224 +num rollout transitions: 24910, reward mean: 3.3238 +num rollout transitions: 24935, reward mean: 3.3049 +num rollout transitions: 24927, reward mean: 3.3408 +num rollout transitions: 24926, reward mean: 3.3331 +num rollout transitions: 24936, reward mean: 3.3483 +num rollout transitions: 24925, reward mean: 3.3182 +num rollout transitions: 24940, reward mean: 3.3068 +num rollout transitions: 24947, reward mean: 3.2995 +num rollout transitions: 24918, reward mean: 3.3014 +---------------------------------------------------------------------------------- +| alpha | 0.0277 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.74 | +| loss/actor | -313 | +| loss/alpha | -0.0074 | +| loss/critic | 4.75 | +| penalty/lcb_mean | 0.185 | +| penalty/lcb_std | 0.392 | +| rollout_info/dynamics_penalty_mean | 0.0942 | +| rollout_info/dynamics_penalty_std | 0.188 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24930, reward mean: 3.3269 +num rollout transitions: 24942, reward mean: 3.3399 +num rollout transitions: 24936, reward mean: 3.3111 +num rollout transitions: 24907, reward mean: 3.3019 +num rollout transitions: 24931, reward mean: 3.3167 +num rollout transitions: 24924, reward mean: 3.3174 +num rollout transitions: 24934, reward mean: 3.3279 +num rollout transitions: 24915, reward mean: 3.3250 +num rollout transitions: 24943, reward mean: 3.3218 +num rollout transitions: 24939, reward mean: 3.3181 +num rollout transitions: 24921, reward mean: 3.3265 +num rollout transitions: 24903, reward mean: 3.3444 +num rollout transitions: 24939, reward mean: 3.3258 +num rollout transitions: 24941, reward mean: 3.2774 +num rollout transitions: 24920, reward mean: 3.3299 +num rollout transitions: 24915, reward mean: 3.2972 +num rollout transitions: 24922, reward mean: 3.3096 +num rollout transitions: 24904, reward mean: 3.3083 +num rollout transitions: 24939, reward mean: 3.2997 +num rollout transitions: 24940, reward mean: 3.2950 +num rollout transitions: 24943, reward mean: 3.2901 +num rollout transitions: 24938, reward mean: 3.3092 +num rollout transitions: 24931, reward mean: 3.2774 +num rollout transitions: 24941, reward mean: 3.3156 +num rollout transitions: 24939, reward mean: 3.3342 +num rollout transitions: 24957, reward mean: 3.3049 +num rollout transitions: 24936, reward mean: 3.3247 +num rollout transitions: 24916, reward mean: 3.2891 +num rollout transitions: 24945, reward mean: 3.3195 +num rollout transitions: 24935, reward mean: 3.3037 +num rollout transitions: 24948, reward mean: 3.3325 +num rollout transitions: 24924, reward mean: 3.3080 +num rollout transitions: 24929, reward mean: 3.3567 +num rollout transitions: 24933, reward mean: 3.3044 +num rollout transitions: 24947, reward mean: 3.3455 +num rollout transitions: 24947, reward mean: 3.3545 +num rollout transitions: 24943, reward mean: 3.3388 +num rollout transitions: 24940, reward mean: 3.3528 +num rollout transitions: 24931, reward mean: 3.3160 +num rollout transitions: 24953, reward mean: 3.3219 +num rollout transitions: 24957, reward mean: 3.3348 +num rollout transitions: 24932, reward mean: 3.3250 +num rollout transitions: 24927, reward mean: 3.3009 +num rollout transitions: 24908, reward mean: 3.2822 +num rollout transitions: 24929, reward mean: 3.3019 +num rollout transitions: 24933, reward mean: 3.3343 +num rollout transitions: 24931, reward mean: 3.3160 +num rollout transitions: 24930, reward mean: 3.3251 +num rollout transitions: 24941, reward mean: 3.3075 +num rollout transitions: 24913, reward mean: 3.2953 +---------------------------------------------------------------------------------- +| alpha | 0.0271 | +| eval/episode_length | 29.6 | +| eval/episode_length_std | 0.562 | +| eval/normalized_episode_reward | 1.9 | +| eval/normalized_episode_reward_std | 0.657 | +| loss/actor | -312 | +| loss/alpha | 0.0281 | +| loss/critic | 4.98 | +| penalty/lcb_mean | 0.192 | +| penalty/lcb_std | 0.413 | +| rollout_info/dynamics_penalty_mean | 0.0904 | +| rollout_info/dynamics_penalty_std | 0.179 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24942, reward mean: 3.3293 +num rollout transitions: 24896, reward mean: 3.3032 +num rollout transitions: 24942, reward mean: 3.3102 +num rollout transitions: 24930, reward mean: 3.3161 +num rollout transitions: 24948, reward mean: 3.3278 +num rollout transitions: 24931, reward mean: 3.2991 +num rollout transitions: 24913, reward mean: 3.3253 +num rollout transitions: 24923, reward mean: 3.2832 +num rollout transitions: 24938, reward mean: 3.2966 +num rollout transitions: 24951, reward mean: 3.3040 +num rollout transitions: 24900, reward mean: 3.3461 +num rollout transitions: 24947, reward mean: 3.3250 +num rollout transitions: 24923, reward mean: 3.3142 +num rollout transitions: 24926, reward mean: 3.2968 +num rollout transitions: 24925, reward mean: 3.3325 +num rollout transitions: 24916, reward mean: 3.3415 +num rollout transitions: 24920, reward mean: 3.3256 +num rollout 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rollout transitions: 24942, reward mean: 3.3267 +num rollout transitions: 24911, reward mean: 3.3146 +num rollout transitions: 24948, reward mean: 3.3278 +num rollout transitions: 24938, reward mean: 3.2854 +num rollout transitions: 24933, reward mean: 3.3074 +num rollout transitions: 24915, reward mean: 3.2975 +num rollout transitions: 24916, reward mean: 3.3161 +num rollout transitions: 24932, reward mean: 3.3178 +num rollout transitions: 24913, reward mean: 3.2962 +num rollout transitions: 24928, reward mean: 3.3239 +num rollout transitions: 24947, reward mean: 3.3136 +num rollout transitions: 24950, reward mean: 3.2890 +num rollout transitions: 24939, reward mean: 3.2722 +num rollout transitions: 24955, reward mean: 3.3163 +---------------------------------------------------------------------------------- +| alpha | 0.0332 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.738 | +| loss/actor | -309 | +| loss/alpha | 0.0204 | +| loss/critic | 6.75 | +| penalty/lcb_mean | 0.215 | +| penalty/lcb_std | 0.476 | +| rollout_info/dynamics_penalty_mean | 0.0906 | +| rollout_info/dynamics_penalty_std | 0.176 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24899, reward mean: 3.3302 +num rollout transitions: 24941, reward mean: 3.3215 +num rollout transitions: 24950, reward mean: 3.3186 +num rollout transitions: 24950, reward mean: 3.3352 +num rollout transitions: 24934, reward mean: 3.3373 +num rollout transitions: 24945, reward mean: 3.3136 +num rollout transitions: 24932, reward mean: 3.2837 +num rollout transitions: 24936, reward mean: 3.3346 +num rollout transitions: 24934, reward mean: 3.3357 +num rollout transitions: 24921, reward mean: 3.3223 +num rollout transitions: 24920, reward mean: 3.3226 +num 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3.3375 +num rollout transitions: 24935, reward mean: 3.3184 +num rollout transitions: 24927, reward mean: 3.3144 +num rollout transitions: 24946, reward mean: 3.3314 +num rollout transitions: 24915, reward mean: 3.2900 +num rollout transitions: 24918, reward mean: 3.3113 +num rollout transitions: 24901, reward mean: 3.3436 +num rollout transitions: 24919, reward mean: 3.3230 +num rollout transitions: 24922, reward mean: 3.3158 +num rollout transitions: 24936, reward mean: 3.3245 +num rollout transitions: 24944, reward mean: 3.3062 +num rollout transitions: 24949, reward mean: 3.3134 +num rollout transitions: 24944, reward mean: 3.3261 +num rollout transitions: 24925, reward mean: 3.2996 +num rollout transitions: 24920, reward mean: 3.3115 +num rollout transitions: 24928, reward mean: 3.3062 +num rollout transitions: 24935, reward mean: 3.2950 +num rollout transitions: 24926, reward mean: 3.3069 +num rollout transitions: 24949, reward mean: 3.3036 +num rollout transitions: 24934, reward mean: 3.3350 +num rollout transitions: 24957, reward mean: 3.3077 +---------------------------------------------------------------------------------- +| alpha | 0.0301 | +| eval/episode_length | 130 | +| eval/episode_length_std | 1.76 | +| eval/normalized_episode_reward | 11 | +| eval/normalized_episode_reward_std | 0.82 | +| loss/actor | -310 | +| loss/alpha | -0.00267 | +| loss/critic | 6.61 | +| penalty/lcb_mean | 0.208 | +| penalty/lcb_std | 0.452 | +| rollout_info/dynamics_penalty_mean | 0.0853 | +| rollout_info/dynamics_penalty_std | 0.171 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24945, reward mean: 3.3018 +num rollout transitions: 24936, reward mean: 3.3014 +num rollout transitions: 24931, reward mean: 3.3215 +num rollout transitions: 24933, reward mean: 3.3125 +num rollout transitions: 24935, reward mean: 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mean: 3.3105 +num rollout transitions: 24928, reward mean: 3.3235 +num rollout transitions: 24937, reward mean: 3.3252 +num rollout transitions: 24959, reward mean: 3.3452 +num rollout transitions: 24912, reward mean: 3.3103 +num rollout transitions: 24928, reward mean: 3.2975 +num rollout transitions: 24905, reward mean: 3.3536 +num rollout transitions: 24926, reward mean: 3.3401 +num rollout transitions: 24943, reward mean: 3.2988 +num rollout transitions: 24965, reward mean: 3.3108 +num rollout transitions: 24919, reward mean: 3.3231 +num rollout transitions: 24935, reward mean: 3.3019 +num rollout transitions: 24937, reward mean: 3.3058 +num rollout transitions: 24950, reward mean: 3.3221 +num rollout transitions: 24917, reward mean: 3.2966 +num rollout transitions: 24943, reward mean: 3.3171 +num rollout transitions: 24925, reward mean: 3.3138 +num rollout transitions: 24926, reward mean: 3.2954 +num rollout transitions: 24925, reward mean: 3.3008 +num rollout transitions: 24917, reward mean: 3.2943 +num rollout transitions: 24933, reward mean: 3.2839 +num rollout transitions: 24940, reward mean: 3.2968 +num rollout transitions: 24898, reward mean: 3.3000 +num rollout transitions: 24932, reward mean: 3.3205 +num rollout transitions: 24947, reward mean: 3.3177 +num rollout transitions: 24953, reward mean: 3.3223 +num rollout transitions: 24921, reward mean: 3.3239 +---------------------------------------------------------------------------------- +| alpha | 0.0274 | +| eval/episode_length | 143 | +| eval/episode_length_std | 286 | +| eval/normalized_episode_reward | 13.9 | +| eval/normalized_episode_reward_std | 33.5 | +| loss/actor | -309 | +| loss/alpha | -0.0145 | +| loss/critic | 4.93 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.473 | +| rollout_info/dynamics_penalty_mean | 0.0788 | +| rollout_info/dynamics_penalty_std | 0.167 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24926, reward mean: 3.3258 +num rollout transitions: 24939, reward mean: 3.3012 +num rollout transitions: 24917, reward mean: 3.3257 +num rollout transitions: 24935, reward mean: 3.3033 +num rollout transitions: 24919, reward mean: 3.3400 +num rollout transitions: 24933, reward mean: 3.2966 +num rollout transitions: 24934, reward mean: 3.3190 +num rollout transitions: 24940, reward mean: 3.3299 +num rollout transitions: 24943, reward mean: 3.3229 +num rollout transitions: 24939, reward mean: 3.3128 +num rollout transitions: 24921, reward mean: 3.3365 +num rollout transitions: 24916, reward mean: 3.2889 +num rollout transitions: 24936, reward mean: 3.3168 +num rollout transitions: 24938, reward mean: 3.3450 +num rollout transitions: 24905, reward mean: 3.3174 +num rollout transitions: 24928, reward mean: 3.3311 +num rollout transitions: 24920, reward mean: 3.3345 +num rollout 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rollout transitions: 24934, reward mean: 3.3219 +num rollout transitions: 24921, reward mean: 3.3207 +num rollout transitions: 24912, reward mean: 3.3350 +num rollout transitions: 24930, reward mean: 3.3104 +num rollout transitions: 24913, reward mean: 3.3436 +num rollout transitions: 24937, reward mean: 3.3052 +num rollout transitions: 24920, reward mean: 3.3015 +num rollout transitions: 24951, reward mean: 3.3308 +num rollout transitions: 24933, reward mean: 3.2995 +num rollout transitions: 24955, reward mean: 3.3086 +num rollout transitions: 24938, reward mean: 3.2923 +num rollout transitions: 24949, reward mean: 3.2802 +num rollout transitions: 24944, reward mean: 3.3300 +num rollout transitions: 24921, reward mean: 3.3079 +---------------------------------------------------------------------------------- +| alpha | 0.0278 | +| eval/episode_length | 36.3 | +| eval/episode_length_std | 0.458 | +| eval/normalized_episode_reward | 2.29 | +| eval/normalized_episode_reward_std | 0.653 | +| loss/actor | -310 | +| loss/alpha | 0.00828 | +| loss/critic | 5.38 | +| penalty/lcb_mean | 0.207 | +| penalty/lcb_std | 0.461 | +| rollout_info/dynamics_penalty_mean | 0.0805 | +| rollout_info/dynamics_penalty_std | 0.167 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24938, reward mean: 3.3112 +num rollout transitions: 24939, reward mean: 3.3097 +num rollout transitions: 24953, reward mean: 3.2892 +num rollout transitions: 24949, reward mean: 3.3009 +num rollout transitions: 24943, reward mean: 3.2992 +num rollout transitions: 24937, reward mean: 3.2931 +num rollout transitions: 24936, reward mean: 3.3062 +num rollout transitions: 24921, reward mean: 3.3049 +num rollout transitions: 24935, reward mean: 3.3383 +num rollout transitions: 24927, reward mean: 3.2912 +num rollout transitions: 24929, reward mean: 3.3008 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3.3359 +num rollout transitions: 24944, reward mean: 3.3064 +num rollout transitions: 24906, reward mean: 3.3432 +num rollout transitions: 24921, reward mean: 3.3549 +num rollout transitions: 24947, reward mean: 3.3400 +num rollout transitions: 24925, reward mean: 3.3264 +num rollout transitions: 24937, reward mean: 3.3267 +num rollout transitions: 24925, reward mean: 3.3238 +num rollout transitions: 24952, reward mean: 3.3057 +num rollout transitions: 24933, reward mean: 3.3081 +num rollout transitions: 24916, reward mean: 3.3213 +num rollout transitions: 24936, reward mean: 3.3165 +num rollout transitions: 24932, reward mean: 3.3410 +num rollout transitions: 24929, reward mean: 3.3447 +num rollout transitions: 24932, reward mean: 3.3144 +num rollout transitions: 24932, reward mean: 3.3327 +num rollout transitions: 24943, reward mean: 3.3188 +num rollout transitions: 24913, reward mean: 3.3155 +num rollout transitions: 24914, reward mean: 3.3380 +num rollout transitions: 24912, reward mean: 3.3339 +num rollout transitions: 24937, reward mean: 3.3027 +---------------------------------------------------------------------------------- +| alpha | 0.0281 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.938 | +| loss/actor | -309 | +| loss/alpha | 0.00545 | +| loss/critic | 5.11 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.475 | +| rollout_info/dynamics_penalty_mean | 0.0786 | +| rollout_info/dynamics_penalty_std | 0.168 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24932, reward mean: 3.3131 +num rollout transitions: 24916, reward mean: 3.3423 +num rollout transitions: 24957, reward mean: 3.3187 +num rollout transitions: 24929, reward mean: 3.3005 +num rollout transitions: 24945, reward 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reward mean: 3.3068 +num rollout transitions: 24934, reward mean: 3.3114 +num rollout transitions: 24932, reward mean: 3.3187 +num rollout transitions: 24927, reward mean: 3.3428 +num rollout transitions: 24938, reward mean: 3.3133 +num rollout transitions: 24920, reward mean: 3.2884 +num rollout transitions: 24967, reward mean: 3.3237 +num rollout transitions: 24953, reward mean: 3.3172 +num rollout transitions: 24952, reward mean: 3.3025 +num rollout transitions: 24943, reward mean: 3.3059 +num rollout transitions: 24942, reward mean: 3.3311 +num rollout transitions: 24916, reward mean: 3.2971 +num rollout transitions: 24945, reward mean: 3.2850 +num rollout transitions: 24933, reward mean: 3.3121 +num rollout transitions: 24934, reward mean: 3.3101 +num rollout transitions: 24943, reward mean: 3.3128 +num rollout transitions: 24933, reward mean: 3.3081 +num rollout transitions: 24937, reward mean: 3.2881 +num rollout transitions: 24956, reward mean: 3.2989 +num rollout transitions: 24945, reward mean: 3.3156 +num rollout transitions: 24921, reward mean: 3.3150 +num rollout transitions: 24944, reward mean: 3.3059 +num rollout transitions: 24922, reward mean: 3.3294 +num rollout transitions: 24941, reward mean: 3.2943 +num rollout transitions: 24940, reward mean: 3.3079 +num rollout transitions: 24924, reward mean: 3.3167 +num rollout transitions: 24943, reward mean: 3.2930 +---------------------------------------------------------------------------------- +| alpha | 0.0272 | +| eval/episode_length | 882 | +| eval/episode_length_std | 197 | +| eval/normalized_episode_reward | 101 | +| eval/normalized_episode_reward_std | 23.4 | +| loss/actor | -309 | +| loss/alpha | 0.0147 | +| loss/critic | 4.71 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.477 | +| rollout_info/dynamics_penalty_mean | 0.0773 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24930, reward mean: 3.3227 +num rollout transitions: 24949, reward mean: 3.3039 +num rollout transitions: 24927, reward mean: 3.3028 +num rollout transitions: 24922, reward mean: 3.3168 +num rollout transitions: 24935, reward mean: 3.3172 +num rollout transitions: 24919, reward mean: 3.3120 +num rollout transitions: 24940, reward mean: 3.3213 +num rollout transitions: 24927, reward mean: 3.3210 +num rollout transitions: 24949, reward mean: 3.3249 +num rollout transitions: 24949, reward mean: 3.3116 +num rollout transitions: 24945, reward mean: 3.3011 +num rollout transitions: 24939, reward mean: 3.3299 +num rollout transitions: 24937, reward mean: 3.3221 +num rollout transitions: 24947, reward mean: 3.3081 +num rollout transitions: 24932, reward mean: 3.3098 +num rollout transitions: 24919, reward mean: 3.3622 +num rollout transitions: 24925, reward mean: 3.3295 +num rollout 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rollout transitions: 24929, reward mean: 3.3200 +num rollout transitions: 24945, reward mean: 3.3427 +num rollout transitions: 24930, reward mean: 3.3241 +num rollout transitions: 24956, reward mean: 3.3365 +num rollout transitions: 24933, reward mean: 3.3289 +num rollout transitions: 24950, reward mean: 3.3230 +num rollout transitions: 24915, reward mean: 3.2930 +num rollout transitions: 24951, reward mean: 3.3164 +num rollout transitions: 24907, reward mean: 3.2696 +num rollout transitions: 24942, reward mean: 3.3130 +num rollout transitions: 24934, reward mean: 3.3056 +num rollout transitions: 24942, reward mean: 3.2785 +num rollout transitions: 24920, reward mean: 3.3402 +num rollout transitions: 24945, reward mean: 3.3381 +---------------------------------------------------------------------------------- +| alpha | 0.0294 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.727 | +| loss/actor | -310 | +| loss/alpha | -0.004 | +| loss/critic | 5.76 | +| penalty/lcb_mean | 0.216 | +| penalty/lcb_std | 0.475 | +| rollout_info/dynamics_penalty_mean | 0.0878 | +| rollout_info/dynamics_penalty_std | 0.176 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24944, reward mean: 3.3205 +num rollout transitions: 24928, reward mean: 3.3260 +num rollout transitions: 24923, reward mean: 3.3180 +num rollout transitions: 24935, reward mean: 3.2977 +num rollout transitions: 24949, reward mean: 3.2959 +num rollout transitions: 24932, reward mean: 3.3008 +num rollout transitions: 24941, reward mean: 3.3131 +num rollout transitions: 24945, reward mean: 3.3291 +num rollout transitions: 24945, reward mean: 3.2852 +num rollout transitions: 24939, reward mean: 3.2939 +num rollout transitions: 24953, reward mean: 3.3474 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3.2927 +num rollout transitions: 24948, reward mean: 3.3161 +num rollout transitions: 24926, reward mean: 3.3061 +num rollout transitions: 24956, reward mean: 3.3010 +num rollout transitions: 24912, reward mean: 3.2972 +num rollout transitions: 24928, reward mean: 3.3150 +num rollout transitions: 24946, reward mean: 3.2947 +num rollout transitions: 24935, reward mean: 3.3151 +num rollout transitions: 24931, reward mean: 3.2940 +num rollout transitions: 24918, reward mean: 3.3173 +num rollout transitions: 24942, reward mean: 3.2986 +num rollout transitions: 24948, reward mean: 3.2812 +num rollout transitions: 24929, reward mean: 3.2903 +num rollout transitions: 24911, reward mean: 3.3007 +num rollout transitions: 24917, reward mean: 3.3010 +num rollout transitions: 24922, reward mean: 3.3249 +num rollout transitions: 24932, reward mean: 3.2778 +num rollout transitions: 24936, reward mean: 3.2814 +num rollout transitions: 24928, reward mean: 3.2959 +num rollout transitions: 24907, reward mean: 3.3122 +num rollout transitions: 24927, reward mean: 3.2962 +---------------------------------------------------------------------------------- +| alpha | 0.0265 | +| eval/episode_length | 33.9 | +| eval/episode_length_std | 0.6 | +| eval/normalized_episode_reward | 2.16 | +| eval/normalized_episode_reward_std | 0.662 | +| loss/actor | -310 | +| loss/alpha | -0.00513 | +| loss/critic | 5 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.454 | +| rollout_info/dynamics_penalty_mean | 0.0744 | +| rollout_info/dynamics_penalty_std | 0.158 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24938, reward mean: 3.2536 +num rollout transitions: 24936, reward mean: 3.3419 +num rollout transitions: 24911, reward mean: 3.3369 +num rollout transitions: 24941, reward mean: 3.2993 +num rollout transitions: 24931, reward 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reward mean: 3.2951 +num rollout transitions: 24946, reward mean: 3.2900 +num rollout transitions: 24907, reward mean: 3.3095 +num rollout transitions: 24921, reward mean: 3.2748 +num rollout transitions: 24955, reward mean: 3.2916 +num rollout transitions: 24913, reward mean: 3.3206 +num rollout transitions: 24940, reward mean: 3.3005 +num rollout transitions: 24946, reward mean: 3.3238 +num rollout transitions: 24950, reward mean: 3.3012 +num rollout transitions: 24943, reward mean: 3.3038 +num rollout transitions: 24936, reward mean: 3.2964 +num rollout transitions: 24932, reward mean: 3.3226 +num rollout transitions: 24947, reward mean: 3.3017 +num rollout transitions: 24939, reward mean: 3.3026 +num rollout transitions: 24902, reward mean: 3.3105 +num rollout transitions: 24942, reward mean: 3.3016 +num rollout transitions: 24940, reward mean: 3.3120 +num rollout transitions: 24945, reward mean: 3.2947 +num rollout transitions: 24917, reward mean: 3.2967 +num rollout transitions: 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+---------------------------------------------------------------------------------- +num rollout transitions: 24956, reward mean: 3.2871 +num rollout transitions: 24953, reward mean: 3.3040 +num rollout transitions: 24941, reward mean: 3.3111 +num rollout transitions: 24921, reward mean: 3.3246 +num rollout transitions: 24918, reward mean: 3.3115 +num rollout transitions: 24934, reward mean: 3.3155 +num rollout transitions: 24927, reward mean: 3.2999 +num rollout transitions: 24962, reward mean: 3.2994 +num rollout transitions: 24945, reward mean: 3.3070 +num rollout transitions: 24929, reward mean: 3.3151 +num rollout transitions: 24937, reward mean: 3.3576 +num rollout transitions: 24956, reward mean: 3.3195 +num rollout transitions: 24931, reward mean: 3.3235 +num rollout transitions: 24942, reward mean: 3.2910 +num rollout transitions: 24939, reward mean: 3.2821 +num rollout transitions: 24910, reward mean: 3.3029 +num rollout transitions: 24932, reward mean: 3.2987 +num rollout 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rollout transitions: 24921, reward mean: 3.2805 +num rollout transitions: 24939, reward mean: 3.3022 +num rollout transitions: 24911, reward mean: 3.3051 +num rollout transitions: 24922, reward mean: 3.3180 +num rollout transitions: 24918, reward mean: 3.3316 +num rollout transitions: 24936, reward mean: 3.3148 +num rollout transitions: 24941, reward mean: 3.3397 +num rollout transitions: 24953, reward mean: 3.3221 +num rollout transitions: 24936, reward mean: 3.3251 +num rollout transitions: 24954, reward mean: 3.3279 +num rollout transitions: 24928, reward mean: 3.3105 +num rollout transitions: 24918, reward mean: 3.3224 +num rollout transitions: 24950, reward mean: 3.3116 +num rollout transitions: 24945, reward mean: 3.3046 +---------------------------------------------------------------------------------- +| alpha | 0.0255 | +| eval/episode_length | 281 | +| eval/episode_length_std | 1.31 | +| eval/normalized_episode_reward | 28.5 | +| eval/normalized_episode_reward_std | 0.736 | +| loss/actor | -310 | +| loss/alpha | -0.00591 | +| loss/critic | 4.52 | +| penalty/lcb_mean | 0.206 | +| penalty/lcb_std | 0.454 | +| rollout_info/dynamics_penalty_mean | 0.077 | +| rollout_info/dynamics_penalty_std | 0.167 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24939, reward mean: 3.3236 +num rollout transitions: 24927, reward mean: 3.2976 +num rollout transitions: 24912, reward mean: 3.3376 +num rollout transitions: 24945, reward mean: 3.3141 +num rollout transitions: 24936, reward mean: 3.3062 +num rollout transitions: 24918, reward mean: 3.3090 +num rollout transitions: 24941, reward mean: 3.3149 +num rollout transitions: 24931, reward mean: 3.2949 +num rollout transitions: 24918, reward mean: 3.3120 +num rollout transitions: 24938, reward mean: 3.3013 +num rollout transitions: 24931, reward mean: 3.3042 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mean: 3.3150 +num rollout transitions: 24946, reward mean: 3.3260 +---------------------------------------------------------------------------------- +| alpha | 0.0238 | +| eval/episode_length | 459 | +| eval/episode_length_std | 147 | +| eval/normalized_episode_reward | 52.4 | +| eval/normalized_episode_reward_std | 18.4 | +| loss/actor | -311 | +| loss/alpha | 0.00119 | +| loss/critic | 3.81 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.445 | +| rollout_info/dynamics_penalty_mean | 0.074 | +| rollout_info/dynamics_penalty_std | 0.159 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24949, reward mean: 3.3059 +num rollout transitions: 24924, reward mean: 3.3093 +num rollout transitions: 24915, reward mean: 3.3042 +num rollout transitions: 24931, reward mean: 3.3324 +num rollout transitions: 24941, reward mean: 3.3074 +num rollout transitions: 24945, reward mean: 3.3130 +num rollout transitions: 24935, reward mean: 3.3020 +num rollout transitions: 24948, reward mean: 3.3125 +num rollout transitions: 24940, reward mean: 3.2904 +num rollout transitions: 24914, reward mean: 3.3135 +num rollout transitions: 24937, reward mean: 3.3168 +num rollout transitions: 24902, reward mean: 3.2934 +num rollout transitions: 24919, reward mean: 3.3025 +num rollout transitions: 24935, reward mean: 3.3172 +num rollout transitions: 24944, reward mean: 3.3266 +num rollout transitions: 24943, reward mean: 3.3250 +num rollout transitions: 24959, reward mean: 3.2977 +num rollout transitions: 24928, reward mean: 3.3245 +num rollout transitions: 24948, reward mean: 3.3250 +num rollout transitions: 24947, reward mean: 3.3182 +num rollout transitions: 24954, reward mean: 3.2948 +num rollout transitions: 24937, reward mean: 3.2780 +num rollout transitions: 24929, reward mean: 3.2980 +num rollout transitions: 24916, reward 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rollout transitions: 24934, reward mean: 3.3106 +num rollout transitions: 24948, reward mean: 3.3188 +num rollout transitions: 24953, reward mean: 3.3078 +num rollout transitions: 24937, reward mean: 3.2969 +num rollout transitions: 24941, reward mean: 3.3257 +num rollout transitions: 24940, reward mean: 3.3135 +num rollout transitions: 24937, reward mean: 3.3120 +num rollout transitions: 24940, reward mean: 3.3157 +num rollout transitions: 24957, reward mean: 3.2980 +num rollout transitions: 24943, reward mean: 3.3058 +num rollout transitions: 24933, reward mean: 3.3054 +num rollout transitions: 24904, reward mean: 3.2984 +num rollout transitions: 24942, reward mean: 3.2864 +num rollout transitions: 24907, reward mean: 3.3308 +---------------------------------------------------------------------------------- +| alpha | 0.024 | +| eval/episode_length | 567 | +| eval/episode_length_std | 225 | +| eval/normalized_episode_reward | 64.5 | +| eval/normalized_episode_reward_std | 27.3 | +| loss/actor | -310 | +| loss/alpha | -0.0167 | +| loss/critic | 3.8 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.446 | +| rollout_info/dynamics_penalty_mean | 0.0723 | +| rollout_info/dynamics_penalty_std | 0.156 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24928, reward mean: 3.3293 +num rollout transitions: 24945, reward mean: 3.3316 +num rollout transitions: 24913, reward mean: 3.3391 +num rollout transitions: 24945, reward mean: 3.3358 +num rollout transitions: 24921, reward mean: 3.3267 +num rollout transitions: 24916, reward mean: 3.3330 +num rollout transitions: 24892, reward mean: 3.3298 +num rollout transitions: 24946, reward mean: 3.3289 +num rollout transitions: 24949, reward mean: 3.2722 +num rollout transitions: 24922, reward mean: 3.3298 +num rollout transitions: 24937, reward mean: 3.2926 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mean: 3.2934 +num rollout transitions: 24924, reward mean: 3.3064 +---------------------------------------------------------------------------------- +| alpha | 0.0252 | +| eval/episode_length | 996 | +| eval/episode_length_std | 21.7 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 2.3 | +| loss/actor | -311 | +| loss/alpha | 0.00831 | +| loss/critic | 4.37 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.464 | +| rollout_info/dynamics_penalty_mean | 0.0715 | +| rollout_info/dynamics_penalty_std | 0.155 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24933, reward mean: 3.3060 +num rollout transitions: 24950, reward mean: 3.3120 +num rollout transitions: 24927, reward mean: 3.3187 +num rollout transitions: 24942, reward mean: 3.3287 +num rollout transitions: 24945, reward mean: 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loss/actor | -310 | +| loss/alpha | 0.0331 | +| loss/critic | 5.48 | +| penalty/lcb_mean | 0.206 | +| penalty/lcb_std | 0.469 | +| rollout_info/dynamics_penalty_mean | 0.0675 | +| rollout_info/dynamics_penalty_std | 0.15 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24905, reward mean: 3.3044 +num rollout transitions: 24944, reward mean: 3.3291 +num rollout transitions: 24921, reward mean: 3.3251 +num rollout transitions: 24931, reward mean: 3.3043 +num rollout transitions: 24926, reward mean: 3.2872 +num rollout transitions: 24941, reward mean: 3.3109 +num rollout transitions: 24927, reward mean: 3.3124 +num rollout transitions: 24928, reward mean: 3.2866 +num rollout transitions: 24941, reward mean: 3.3150 +num rollout transitions: 24929, reward mean: 3.3269 +num rollout transitions: 24933, reward mean: 3.3207 +num 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mean: 3.3280 +num rollout transitions: 24930, reward mean: 3.3092 +---------------------------------------------------------------------------------- +| alpha | 0.0262 | +| eval/episode_length | 927 | +| eval/episode_length_std | 104 | +| eval/normalized_episode_reward | 106 | +| eval/normalized_episode_reward_std | 11.3 | +| loss/actor | -310 | +| loss/alpha | -0.0211 | +| loss/critic | 4.12 | +| penalty/lcb_mean | 0.207 | +| penalty/lcb_std | 0.478 | +| rollout_info/dynamics_penalty_mean | 0.0672 | +| rollout_info/dynamics_penalty_std | 0.152 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24953, reward mean: 3.3138 +num rollout transitions: 24945, reward mean: 3.3381 +num rollout transitions: 24937, reward mean: 3.3097 +num rollout transitions: 24920, reward mean: 3.2911 +num rollout transitions: 24943, reward mean: 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loss/actor | -309 | +| loss/alpha | -0.000447 | +| loss/critic | 4.53 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.478 | +| rollout_info/dynamics_penalty_mean | 0.0721 | +| rollout_info/dynamics_penalty_std | 0.158 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1750000 | +----------------------------------------------------------------------------------- +num rollout transitions: 24933, reward mean: 3.3141 +num rollout transitions: 24922, reward mean: 3.2988 +num rollout transitions: 24924, reward mean: 3.3336 +num rollout transitions: 24945, reward mean: 3.3029 +num rollout transitions: 24948, reward mean: 3.3323 +num rollout transitions: 24941, reward mean: 3.3079 +num rollout transitions: 24921, reward mean: 3.2898 +num rollout transitions: 24926, reward mean: 3.3163 +num rollout transitions: 24931, reward mean: 3.3203 +num rollout transitions: 24923, reward mean: 3.3189 +num rollout transitions: 24948, reward mean: 3.3016 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mean: 3.3003 +num rollout transitions: 24952, reward mean: 3.3201 +---------------------------------------------------------------------------------- +| alpha | 0.0273 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.751 | +| loss/actor | -308 | +| loss/alpha | -0.00994 | +| loss/critic | 4.88 | +| penalty/lcb_mean | 0.215 | +| penalty/lcb_std | 0.492 | +| rollout_info/dynamics_penalty_mean | 0.074 | +| rollout_info/dynamics_penalty_std | 0.16 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24929, reward mean: 3.3136 +num rollout transitions: 24924, reward mean: 3.2878 +num rollout transitions: 24936, reward mean: 3.3241 +num rollout transitions: 24958, reward mean: 3.3116 +num rollout transitions: 24940, reward mean: 3.2950 +num rollout transitions: 24952, reward mean: 3.3136 +num rollout transitions: 24951, reward mean: 3.3054 +num rollout transitions: 24931, reward mean: 3.3073 +num rollout transitions: 24930, reward mean: 3.3263 +num rollout transitions: 24923, reward mean: 3.3241 +num rollout transitions: 24951, reward mean: 3.3084 +num rollout transitions: 24918, reward mean: 3.3108 +num rollout transitions: 24944, reward mean: 3.2968 +num rollout transitions: 24921, reward mean: 3.3280 +num rollout transitions: 24924, reward mean: 3.3141 +num rollout transitions: 24944, reward mean: 3.2974 +num rollout transitions: 24960, reward mean: 3.2990 +num rollout transitions: 24935, reward mean: 3.3269 +num rollout transitions: 24920, reward mean: 3.3271 +num rollout transitions: 24932, reward mean: 3.3097 +num rollout transitions: 24930, reward mean: 3.2976 +num rollout transitions: 24913, reward mean: 3.3059 +num rollout transitions: 24917, reward mean: 3.2889 +num rollout transitions: 24926, reward 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loss/actor | -309 | +| loss/alpha | 0.0148 | +| loss/critic | 4.29 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.456 | +| rollout_info/dynamics_penalty_mean | 0.0732 | +| rollout_info/dynamics_penalty_std | 0.158 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24948, reward mean: 3.3203 +num rollout transitions: 24920, reward mean: 3.3129 +num rollout transitions: 24936, reward mean: 3.3028 +num rollout transitions: 24911, reward mean: 3.3083 +num rollout transitions: 24941, reward mean: 3.3138 +num rollout transitions: 24919, reward mean: 3.3280 +num rollout transitions: 24955, reward mean: 3.3275 +num rollout transitions: 24925, reward mean: 3.2924 +num rollout transitions: 24906, reward mean: 3.3365 +num rollout transitions: 24936, reward mean: 3.3159 +num rollout transitions: 24949, reward mean: 3.3203 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mean: 3.3006 +num rollout transitions: 24930, reward mean: 3.3140 +---------------------------------------------------------------------------------- +| alpha | 0.0264 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.726 | +| loss/actor | -308 | +| loss/alpha | -0.00803 | +| loss/critic | 4.69 | +| penalty/lcb_mean | 0.219 | +| penalty/lcb_std | 0.499 | +| rollout_info/dynamics_penalty_mean | 0.0679 | +| rollout_info/dynamics_penalty_std | 0.152 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24941, reward mean: 3.3266 +num rollout transitions: 24935, reward mean: 3.3194 +num rollout transitions: 24903, reward mean: 3.3088 +num rollout transitions: 24932, reward mean: 3.3267 +num rollout transitions: 24955, reward 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loss/actor | -310 | +| loss/alpha | 0.00535 | +| loss/critic | 3.51 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.474 | +| rollout_info/dynamics_penalty_mean | 0.06 | +| rollout_info/dynamics_penalty_std | 0.14 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24925, reward mean: 3.3166 +num rollout transitions: 24939, reward mean: 3.2973 +num rollout transitions: 24911, reward mean: 3.3045 +num rollout transitions: 24952, reward mean: 3.2809 +num rollout transitions: 24942, reward mean: 3.2806 +num rollout transitions: 24932, reward mean: 3.2946 +num rollout transitions: 24939, reward mean: 3.3260 +num rollout transitions: 24904, reward mean: 3.3121 +num rollout transitions: 24927, reward mean: 3.2884 +num rollout transitions: 24924, reward mean: 3.3163 +num rollout transitions: 24932, reward mean: 3.3119 +num 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mean: 3.3260 +num rollout transitions: 24936, reward mean: 3.3087 +---------------------------------------------------------------------------------- +| alpha | 0.0227 | +| eval/episode_length | 495 | +| eval/episode_length_std | 204 | +| eval/normalized_episode_reward | 53.9 | +| eval/normalized_episode_reward_std | 24.3 | +| loss/actor | -310 | +| loss/alpha | 0.0159 | +| loss/critic | 3.91 | +| penalty/lcb_mean | 0.208 | +| penalty/lcb_std | 0.469 | +| rollout_info/dynamics_penalty_mean | 0.0605 | +| rollout_info/dynamics_penalty_std | 0.138 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24931, reward mean: 3.2963 +num rollout transitions: 24953, reward mean: 3.3194 +num rollout transitions: 24937, reward mean: 3.3042 +num rollout transitions: 24934, reward mean: 3.2936 +num rollout transitions: 24938, reward mean: 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loss/actor | -309 | +| loss/alpha | -0.0168 | +| loss/critic | 3.71 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.468 | +| rollout_info/dynamics_penalty_mean | 0.0688 | +| rollout_info/dynamics_penalty_std | 0.155 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24943, reward mean: 3.3194 +num rollout transitions: 24915, reward mean: 3.3270 +num rollout transitions: 24940, reward mean: 3.2979 +num rollout transitions: 24925, reward mean: 3.3222 +num rollout transitions: 24932, reward mean: 3.3133 +num rollout transitions: 24946, reward mean: 3.3266 +num rollout transitions: 24941, reward mean: 3.3065 +num rollout transitions: 24960, reward mean: 3.3320 +num rollout transitions: 24933, reward mean: 3.3195 +num rollout transitions: 24941, reward mean: 3.3175 +num rollout transitions: 24937, reward mean: 3.3238 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mean: 3.3174 +num rollout transitions: 24914, reward mean: 3.2975 +---------------------------------------------------------------------------------- +| alpha | 0.0234 | +| eval/episode_length | 129 | +| eval/episode_length_std | 0.849 | +| eval/normalized_episode_reward | 10.8 | +| eval/normalized_episode_reward_std | 0.684 | +| loss/actor | -309 | +| loss/alpha | 0.0279 | +| loss/critic | 3.85 | +| penalty/lcb_mean | 0.208 | +| penalty/lcb_std | 0.46 | +| rollout_info/dynamics_penalty_mean | 0.0682 | +| rollout_info/dynamics_penalty_std | 0.151 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24918, reward mean: 3.3206 +num rollout transitions: 24949, reward mean: 3.3114 +num rollout transitions: 24901, reward mean: 3.3235 +num rollout transitions: 24928, reward mean: 3.3150 +num rollout transitions: 24946, reward 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mean: 3.3055 +num rollout transitions: 24951, reward mean: 3.3066 +---------------------------------------------------------------------------------- +| alpha | 0.0228 | +| eval/episode_length | 889 | +| eval/episode_length_std | 161 | +| eval/normalized_episode_reward | 101 | +| eval/normalized_episode_reward_std | 19 | +| loss/actor | -310 | +| loss/alpha | -0.0048 | +| loss/critic | 3.48 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.463 | +| rollout_info/dynamics_penalty_mean | 0.0631 | +| rollout_info/dynamics_penalty_std | 0.142 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24910, reward mean: 3.3124 +num rollout transitions: 24925, reward mean: 3.3311 +num rollout transitions: 24925, reward mean: 3.3213 +num rollout transitions: 24922, reward mean: 3.3214 +num rollout transitions: 24930, reward mean: 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loss/actor | -310 | +| loss/alpha | 0.0571 | +| loss/critic | 3.26 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.448 | +| rollout_info/dynamics_penalty_mean | 0.0666 | +| rollout_info/dynamics_penalty_std | 0.146 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24945, reward mean: 3.3186 +num rollout transitions: 24931, reward mean: 3.3311 +num rollout transitions: 24939, reward mean: 3.3268 +num rollout transitions: 24896, reward mean: 3.3171 +num rollout transitions: 24945, reward mean: 3.3208 +num rollout transitions: 24929, reward mean: 3.3131 +num rollout transitions: 24928, reward mean: 3.3007 +num rollout transitions: 24923, reward mean: 3.3259 +num rollout transitions: 24946, reward mean: 3.3101 +num rollout transitions: 24940, reward mean: 3.3228 +num rollout transitions: 24934, reward mean: 3.3002 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mean: 3.3152 +num rollout transitions: 24948, reward mean: 3.3179 +---------------------------------------------------------------------------------- +| alpha | 0.0236 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.726 | +| loss/actor | -308 | +| loss/alpha | -0.0351 | +| loss/critic | 4.46 | +| penalty/lcb_mean | 0.225 | +| penalty/lcb_std | 0.494 | +| rollout_info/dynamics_penalty_mean | 0.0633 | +| rollout_info/dynamics_penalty_std | 0.142 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24951, reward mean: 3.3202 +num rollout transitions: 24931, reward mean: 3.3062 +num rollout transitions: 24944, reward mean: 3.3304 +num rollout transitions: 24890, reward mean: 3.3318 +num rollout transitions: 24916, reward 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loss/actor | -309 | +| loss/alpha | -0.0173 | +| loss/critic | 2.83 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.477 | +| rollout_info/dynamics_penalty_mean | 0.0669 | +| rollout_info/dynamics_penalty_std | 0.146 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24922, reward mean: 3.3216 +num rollout transitions: 24925, reward mean: 3.3020 +num rollout transitions: 24940, reward mean: 3.3198 +num rollout transitions: 24919, reward mean: 3.3259 +num rollout transitions: 24904, reward mean: 3.3372 +num rollout transitions: 24917, reward mean: 3.2997 +num rollout transitions: 24931, reward mean: 3.3108 +num rollout transitions: 24941, reward mean: 3.3073 +num rollout transitions: 24925, reward mean: 3.2765 +num rollout transitions: 24929, reward mean: 3.3093 +num rollout transitions: 24940, reward mean: 3.3010 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mean: 3.3105 +num rollout transitions: 24950, reward mean: 3.3075 +---------------------------------------------------------------------------------- +| alpha | 0.0202 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.837 | +| loss/actor | -308 | +| loss/alpha | 0.000461 | +| loss/critic | 3.3 | +| penalty/lcb_mean | 0.214 | +| penalty/lcb_std | 0.479 | +| rollout_info/dynamics_penalty_mean | 0.0635 | +| rollout_info/dynamics_penalty_std | 0.143 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24937, reward mean: 3.2740 +num rollout transitions: 24935, reward mean: 3.3012 +num rollout transitions: 24932, reward mean: 3.3078 +num rollout transitions: 24937, reward mean: 3.3198 +num rollout transitions: 24909, reward 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loss/actor | -306 | +| loss/alpha | 0.012 | +| loss/critic | 3.6 | +| penalty/lcb_mean | 0.223 | +| penalty/lcb_std | 0.5 | +| rollout_info/dynamics_penalty_mean | 0.0633 | +| rollout_info/dynamics_penalty_std | 0.142 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24938, reward mean: 3.3118 +num rollout transitions: 24931, reward mean: 3.3039 +num rollout transitions: 24938, reward mean: 3.3019 +num rollout transitions: 24931, reward mean: 3.3060 +num rollout transitions: 24929, reward mean: 3.3200 +num rollout transitions: 24946, reward mean: 3.3034 +num rollout transitions: 24920, reward mean: 3.3093 +num rollout transitions: 24924, reward mean: 3.3078 +num rollout transitions: 24935, reward mean: 3.3027 +num rollout transitions: 24931, reward mean: 3.3284 +num rollout transitions: 24934, reward mean: 3.3163 +num 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mean: 3.3097 +num rollout transitions: 24914, reward mean: 3.3268 +---------------------------------------------------------------------------------- +| alpha | 0.0209 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.736 | +| loss/actor | -306 | +| loss/alpha | 0.00195 | +| loss/critic | 3.51 | +| penalty/lcb_mean | 0.219 | +| penalty/lcb_std | 0.486 | +| rollout_info/dynamics_penalty_mean | 0.062 | +| rollout_info/dynamics_penalty_std | 0.142 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24947, reward mean: 3.2929 +num rollout transitions: 24913, reward mean: 3.3105 +num rollout transitions: 24937, reward mean: 3.3070 +num rollout transitions: 24907, reward mean: 3.3188 +num rollout transitions: 24927, reward mean: 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mean: 3.2859 +num rollout transitions: 24927, reward mean: 3.3047 +---------------------------------------------------------------------------------- +| alpha | 0.0433 | +| eval/episode_length | 18.6 | +| eval/episode_length_std | 0.529 | +| eval/normalized_episode_reward | 1.28 | +| eval/normalized_episode_reward_std | 0.651 | +| loss/actor | -343 | +| loss/alpha | -0.0339 | +| loss/critic | 9.52 | +| penalty/lcb_mean | 0.206 | +| penalty/lcb_std | 0.4 | +| rollout_info/dynamics_penalty_mean | 0.199 | +| rollout_info/dynamics_penalty_std | 0.283 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.33 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24926, reward mean: 3.2822 +num rollout transitions: 24933, reward mean: 3.3401 +num rollout transitions: 24926, reward mean: 3.3049 +num rollout transitions: 24936, reward mean: 3.2801 +num rollout transitions: 24935, reward 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+---------------------------------------------------------------------------------- +num rollout transitions: 24940, reward mean: 3.2964 +num rollout transitions: 24923, reward mean: 3.3430 +num rollout transitions: 24929, reward mean: 3.3047 +num rollout transitions: 24941, reward mean: 3.3340 +num rollout transitions: 24949, reward mean: 3.3395 +num rollout transitions: 24917, reward mean: 3.3313 +num rollout transitions: 24957, reward mean: 3.2931 +num rollout transitions: 24920, reward mean: 3.2798 +num rollout transitions: 24906, reward mean: 3.3068 +num rollout transitions: 24916, reward mean: 3.3504 +num rollout transitions: 24942, reward mean: 3.3075 +num rollout transitions: 24931, reward mean: 3.3243 +num rollout transitions: 24930, reward mean: 3.3146 +num rollout transitions: 24949, reward mean: 3.3250 +num rollout transitions: 24945, reward mean: 3.3269 +num rollout transitions: 24963, reward mean: 3.3152 +num rollout transitions: 24935, reward mean: 3.3174 +num rollout 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rollout transitions: 24908, reward mean: 3.3310 +num rollout transitions: 24938, reward mean: 3.3362 +num rollout transitions: 24917, reward mean: 3.3061 +num rollout transitions: 24924, reward mean: 3.3095 +num rollout transitions: 24926, reward mean: 3.3356 +num rollout transitions: 24903, reward mean: 3.2947 +num rollout transitions: 24958, reward mean: 3.3047 +num rollout transitions: 24916, reward mean: 3.2997 +num rollout transitions: 24922, reward mean: 3.3291 +num rollout transitions: 24952, reward mean: 3.3169 +num rollout transitions: 24906, reward mean: 3.3143 +num rollout transitions: 24936, reward mean: 3.3275 +num rollout transitions: 24962, reward mean: 3.2956 +num rollout transitions: 24915, reward mean: 3.3254 +---------------------------------------------------------------------------------- +| alpha | 0.0405 | +| eval/episode_length | 37 | +| eval/episode_length_std | 0.599 | +| eval/normalized_episode_reward | 2.33 | +| eval/normalized_episode_reward_std | 0.663 | +| loss/actor | -294 | +| loss/alpha | 0.0174 | +| loss/critic | 7.8 | +| penalty/lcb_mean | 0.195 | +| penalty/lcb_std | 0.347 | +| rollout_info/dynamics_penalty_mean | 0.105 | +| rollout_info/dynamics_penalty_std | 0.188 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24930, reward mean: 3.3135 +num rollout transitions: 24947, reward mean: 3.2906 +num rollout transitions: 24956, reward mean: 3.3310 +num rollout transitions: 24922, reward mean: 3.3206 +num rollout transitions: 24939, reward mean: 3.3565 +num rollout transitions: 24931, reward mean: 3.3082 +num rollout transitions: 24950, reward mean: 3.3133 +num rollout transitions: 24935, reward mean: 3.3334 +num rollout transitions: 24933, reward mean: 3.3311 +num rollout transitions: 24949, reward mean: 3.3129 +num rollout transitions: 24928, reward mean: 3.3308 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mean: 3.2950 +num rollout transitions: 24943, reward mean: 3.2813 +---------------------------------------------------------------------------------- +| alpha | 0.0412 | +| eval/episode_length | 13.4 | +| eval/episode_length_std | 0.488 | +| eval/normalized_episode_reward | 1.07 | +| eval/normalized_episode_reward_std | 0.648 | +| loss/actor | -293 | +| loss/alpha | -0.0132 | +| loss/critic | 8.68 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.397 | +| rollout_info/dynamics_penalty_mean | 0.103 | +| rollout_info/dynamics_penalty_std | 0.185 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24921, reward mean: 3.2990 +num rollout transitions: 24925, reward mean: 3.2632 +num rollout transitions: 24953, reward mean: 3.3401 +num rollout transitions: 24933, reward mean: 3.2848 +num rollout transitions: 24951, reward 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24947, reward mean: 3.3130 +num rollout transitions: 24937, reward mean: 3.2926 +num rollout transitions: 24942, reward mean: 3.2942 +num rollout transitions: 24948, reward mean: 3.3020 +num rollout transitions: 24941, reward mean: 3.2737 +num rollout transitions: 24914, reward mean: 3.3053 +num rollout transitions: 24960, reward mean: 3.3056 +num rollout transitions: 24908, reward mean: 3.3111 +---------------------------------------------------------------------------------- +| alpha | 0.0401 | +| eval/episode_length | 36.4 | +| eval/episode_length_std | 0.732 | +| eval/normalized_episode_reward | 2.29 | +| eval/normalized_episode_reward_std | 0.668 | +| loss/actor | -294 | +| loss/alpha | 0.00271 | +| loss/critic | 8.24 | +| penalty/lcb_mean | 0.214 | +| penalty/lcb_std | 0.397 | +| rollout_info/dynamics_penalty_mean | 0.0992 | +| rollout_info/dynamics_penalty_std | 0.18 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 450000 | 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rollout transitions: 24923, reward mean: 3.3094 +num rollout transitions: 24926, reward mean: 3.3006 +num rollout transitions: 24918, reward mean: 3.2980 +num rollout transitions: 24940, reward mean: 3.3077 +num rollout transitions: 24905, reward mean: 3.2967 +num rollout transitions: 24940, reward mean: 3.3047 +num rollout transitions: 24904, reward mean: 3.2787 +num rollout transitions: 24945, reward mean: 3.3213 +num rollout transitions: 24933, reward mean: 3.3187 +num rollout transitions: 24921, reward mean: 3.3065 +num rollout transitions: 24915, reward mean: 3.3010 +num rollout transitions: 24930, reward mean: 3.3239 +num rollout transitions: 24917, reward mean: 3.2994 +num rollout transitions: 24923, reward mean: 3.2962 +---------------------------------------------------------------------------------- +| alpha | 0.0374 | +| eval/episode_length | 72 | +| eval/episode_length_std | 36.4 | +| eval/normalized_episode_reward | 5.24 | +| eval/normalized_episode_reward_std | 4.03 | +| loss/actor | -297 | +| loss/alpha | -0.00779 | +| loss/critic | 5.57 | +| penalty/lcb_mean | 0.208 | +| penalty/lcb_std | 0.398 | +| rollout_info/dynamics_penalty_mean | 0.0882 | +| rollout_info/dynamics_penalty_std | 0.168 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24928, reward mean: 3.2815 +num rollout transitions: 24933, reward mean: 3.2992 +num rollout transitions: 24946, reward mean: 3.3021 +num rollout transitions: 24904, reward mean: 3.2743 +num rollout transitions: 24957, reward mean: 3.2663 +num rollout transitions: 24931, reward mean: 3.3128 +num rollout transitions: 24939, reward mean: 3.3041 +num rollout transitions: 24940, reward mean: 3.3220 +num rollout transitions: 24949, reward mean: 3.3089 +num rollout transitions: 24908, reward mean: 3.3261 +num rollout transitions: 24918, reward mean: 3.2995 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mean: 3.2995 +num rollout transitions: 24947, reward mean: 3.3229 +---------------------------------------------------------------------------------- +| alpha | 0.0357 | +| eval/episode_length | 59.2 | +| eval/episode_length_std | 30.1 | +| eval/normalized_episode_reward | 4.09 | +| eval/normalized_episode_reward_std | 3.45 | +| loss/actor | -298 | +| loss/alpha | 0.00281 | +| loss/critic | 5.75 | +| penalty/lcb_mean | 0.208 | +| penalty/lcb_std | 0.403 | +| rollout_info/dynamics_penalty_mean | 0.0841 | +| rollout_info/dynamics_penalty_std | 0.166 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.3 | +| timestep | 550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24904, reward mean: 3.3243 +num rollout transitions: 24904, reward mean: 3.3092 +num rollout transitions: 24926, reward mean: 3.3156 +num rollout transitions: 24928, reward mean: 3.3045 +num rollout transitions: 24949, reward 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+| loss/actor | -301 | +| loss/alpha | 0.0024 | +| loss/critic | 5.04 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.403 | +| rollout_info/dynamics_penalty_mean | 0.0872 | +| rollout_info/dynamics_penalty_std | 0.17 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24937, reward mean: 3.2976 +num rollout transitions: 24967, reward mean: 3.3013 +num rollout transitions: 24957, reward mean: 3.3277 +num rollout transitions: 24937, reward mean: 3.3194 +num rollout transitions: 24954, reward mean: 3.2998 +num rollout transitions: 24921, reward mean: 3.3033 +num rollout transitions: 24947, reward mean: 3.2936 +num rollout transitions: 24945, reward mean: 3.2974 +num rollout transitions: 24939, reward mean: 3.3121 +num rollout transitions: 24933, reward mean: 3.2873 +num rollout transitions: 24920, reward mean: 3.3268 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mean: 3.3272 +num rollout transitions: 24933, reward mean: 3.3080 +---------------------------------------------------------------------------------- +| alpha | 0.0328 | +| eval/episode_length | 797 | +| eval/episode_length_std | 208 | +| eval/normalized_episode_reward | 89.8 | +| eval/normalized_episode_reward_std | 23.5 | +| loss/actor | -302 | +| loss/alpha | -0.00862 | +| loss/critic | 5.09 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.411 | +| rollout_info/dynamics_penalty_mean | 0.0798 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.3 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24914, reward mean: 3.3201 +num rollout transitions: 24948, reward mean: 3.3021 +num rollout transitions: 24933, reward mean: 3.3247 +num rollout transitions: 24927, reward mean: 3.3101 +num rollout transitions: 24934, reward mean: 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mean: 3.3351 +num rollout transitions: 24939, reward mean: 3.3475 +num rollout transitions: 24932, reward mean: 3.3309 +num rollout transitions: 24951, reward mean: 3.3179 +num rollout transitions: 24937, reward mean: 3.3093 +num rollout transitions: 24925, reward mean: 3.3241 +num rollout transitions: 24938, reward mean: 3.3038 +num rollout transitions: 24964, reward mean: 3.3172 +num rollout transitions: 24902, reward mean: 3.3210 +num rollout transitions: 24947, reward mean: 3.3196 +num rollout transitions: 24947, reward mean: 3.3268 +num rollout transitions: 24925, reward mean: 3.3342 +num rollout transitions: 24936, reward mean: 3.3107 +num rollout transitions: 24921, reward mean: 3.3374 +num rollout transitions: 24946, reward mean: 3.3244 +num rollout transitions: 24952, reward mean: 3.3020 +num rollout transitions: 24955, reward mean: 3.2956 +num rollout transitions: 24938, reward mean: 3.3477 +num rollout transitions: 24899, reward mean: 3.3164 +num rollout transitions: 24904, 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loss/actor | -306 | +| loss/alpha | 0.0634 | +| loss/critic | 9.81 | +| penalty/lcb_mean | 0.197 | +| penalty/lcb_std | 0.399 | +| rollout_info/dynamics_penalty_mean | 0.0932 | +| rollout_info/dynamics_penalty_std | 0.18 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24918, reward mean: 3.2864 +num rollout transitions: 24924, reward mean: 3.3190 +num rollout transitions: 24928, reward mean: 3.3179 +num rollout transitions: 24941, reward mean: 3.3115 +num rollout transitions: 24925, reward mean: 3.2987 +num rollout transitions: 24913, reward mean: 3.3200 +num rollout transitions: 24950, reward mean: 3.3262 +num rollout transitions: 24912, reward mean: 3.3462 +num rollout transitions: 24926, reward mean: 3.2983 +num rollout transitions: 24936, reward mean: 3.3141 +num rollout transitions: 24919, reward mean: 3.3060 +num 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mean: 3.3364 +num rollout transitions: 24942, reward mean: 3.3254 +---------------------------------------------------------------------------------- +| alpha | 0.0314 | +| eval/episode_length | 842 | +| eval/episode_length_std | 316 | +| eval/normalized_episode_reward | 93.2 | +| eval/normalized_episode_reward_std | 37.1 | +| loss/actor | -306 | +| loss/alpha | 0.011 | +| loss/critic | 4.53 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.416 | +| rollout_info/dynamics_penalty_mean | 0.0811 | +| rollout_info/dynamics_penalty_std | 0.169 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24941, reward mean: 3.3442 +num rollout transitions: 24941, reward mean: 3.3008 +num rollout transitions: 24932, reward mean: 3.3168 +num rollout transitions: 24928, reward mean: 3.2913 +num rollout transitions: 24921, reward mean: 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rollout transitions: 24910, reward mean: 3.2924 +num rollout transitions: 24929, reward mean: 3.3016 +num rollout transitions: 24930, reward mean: 3.3385 +num rollout transitions: 24944, reward mean: 3.3222 +num rollout transitions: 24947, reward mean: 3.3210 +num rollout transitions: 24936, reward mean: 3.3170 +num rollout transitions: 24924, reward mean: 3.3250 +num rollout transitions: 24920, reward mean: 3.3624 +num rollout transitions: 24932, reward mean: 3.3045 +num rollout transitions: 24934, reward mean: 3.2984 +num rollout transitions: 24954, reward mean: 3.3154 +num rollout transitions: 24925, reward mean: 3.2607 +num rollout transitions: 24935, reward mean: 3.2989 +num rollout transitions: 24956, reward mean: 3.2977 +---------------------------------------------------------------------------------- +| alpha | 0.0292 | +| eval/episode_length | 37.4 | +| eval/episode_length_std | 0.485 | +| eval/normalized_episode_reward | 2.29 | +| eval/normalized_episode_reward_std | 0.654 | +| loss/actor | -309 | +| loss/alpha | -0.00729 | +| loss/critic | 4.26 | +| penalty/lcb_mean | 0.192 | +| penalty/lcb_std | 0.397 | +| rollout_info/dynamics_penalty_mean | 0.0934 | +| rollout_info/dynamics_penalty_std | 0.185 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24937, reward mean: 3.3022 +num rollout transitions: 24929, reward mean: 3.3155 +num rollout transitions: 24953, reward mean: 3.3139 +num rollout transitions: 24941, reward mean: 3.2948 +num rollout transitions: 24955, reward mean: 3.3079 +num rollout transitions: 24913, reward mean: 3.3064 +num rollout transitions: 24922, reward mean: 3.2851 +num rollout transitions: 24910, reward mean: 3.2957 +num rollout transitions: 24936, reward mean: 3.3342 +num rollout transitions: 24925, reward mean: 3.3064 +num rollout transitions: 24915, reward mean: 3.3038 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mean: 3.3281 +num rollout transitions: 24926, reward mean: 3.3052 +---------------------------------------------------------------------------------- +| alpha | 0.0305 | +| eval/episode_length | 41.8 | +| eval/episode_length_std | 0.392 | +| eval/normalized_episode_reward | 2.67 | +| eval/normalized_episode_reward_std | 0.642 | +| loss/actor | -307 | +| loss/alpha | 0.0338 | +| loss/critic | 4.64 | +| penalty/lcb_mean | 0.206 | +| penalty/lcb_std | 0.429 | +| rollout_info/dynamics_penalty_mean | 0.0807 | +| rollout_info/dynamics_penalty_std | 0.167 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24912, reward mean: 3.3374 +num rollout transitions: 24932, reward mean: 3.3379 +num rollout transitions: 24945, reward mean: 3.3379 +num rollout transitions: 24936, reward mean: 3.3000 +num rollout transitions: 24945, reward mean: 3.3330 +num rollout transitions: 24938, reward mean: 3.3330 +num rollout transitions: 24911, reward mean: 3.3349 +num rollout transitions: 24950, reward mean: 3.3262 +num rollout transitions: 24922, reward mean: 3.3205 +num rollout transitions: 24938, reward mean: 3.3337 +num rollout transitions: 24927, reward mean: 3.3094 +num rollout transitions: 24934, reward mean: 3.3216 +num rollout transitions: 24910, reward mean: 3.3010 +num rollout transitions: 24928, reward mean: 3.3226 +num rollout transitions: 24926, reward mean: 3.3276 +num rollout transitions: 24910, reward mean: 3.3304 +num rollout transitions: 24922, reward mean: 3.3244 +num rollout transitions: 24920, reward mean: 3.3032 +num rollout transitions: 24917, reward mean: 3.3241 +num rollout transitions: 24959, reward mean: 3.3420 +num rollout transitions: 24959, reward mean: 3.3326 +num rollout transitions: 24949, reward mean: 3.3167 +num rollout transitions: 24934, reward mean: 3.3323 +num rollout transitions: 24951, reward mean: 3.3080 +num rollout transitions: 24929, reward mean: 3.3121 +num rollout transitions: 24938, reward mean: 3.3057 +num rollout transitions: 24926, reward mean: 3.3162 +num rollout transitions: 24948, reward mean: 3.3117 +num rollout transitions: 24919, reward mean: 3.3222 +num rollout transitions: 24943, reward mean: 3.3121 +num rollout transitions: 24950, reward mean: 3.3280 +num rollout transitions: 24939, reward mean: 3.3161 +num rollout transitions: 24906, reward mean: 3.2950 +num rollout transitions: 24925, reward mean: 3.2995 +num rollout transitions: 24928, reward mean: 3.3244 +num rollout transitions: 24941, reward mean: 3.3225 +num rollout transitions: 24912, reward mean: 3.3067 +num rollout transitions: 24920, reward mean: 3.2746 +num rollout transitions: 24926, reward mean: 3.3467 +num rollout transitions: 24945, reward mean: 3.3388 +num rollout transitions: 24933, reward mean: 3.2867 +num rollout transitions: 24920, reward mean: 3.3270 +num rollout transitions: 24949, reward mean: 3.3142 +num rollout transitions: 24906, reward mean: 3.3330 +num rollout transitions: 24926, reward mean: 3.3095 +num rollout transitions: 24930, reward mean: 3.3098 +num rollout transitions: 24927, reward mean: 3.3240 +num rollout transitions: 24951, reward mean: 3.3310 +num rollout transitions: 24928, reward mean: 3.3395 +num rollout transitions: 24916, reward mean: 3.3079 +---------------------------------------------------------------------------------- +| alpha | 0.0309 | +| eval/episode_length | 45.1 | +| eval/episode_length_std | 1.16 | +| eval/normalized_episode_reward | 2.81 | +| eval/normalized_episode_reward_std | 0.71 | +| loss/actor | -304 | +| loss/alpha | -0.00563 | +| loss/critic | 5.04 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.437 | +| rollout_info/dynamics_penalty_mean | 0.0804 | +| rollout_info/dynamics_penalty_std | 0.166 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1050000 | 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rollout transitions: 24946, reward mean: 3.3306 +num rollout transitions: 24946, reward mean: 3.3217 +num rollout transitions: 24946, reward mean: 3.3387 +num rollout transitions: 24949, reward mean: 3.3328 +num rollout transitions: 24927, reward mean: 3.3205 +num rollout transitions: 24946, reward mean: 3.3091 +num rollout transitions: 24947, reward mean: 3.2965 +num rollout transitions: 24932, reward mean: 3.3123 +num rollout transitions: 24920, reward mean: 3.3149 +num rollout transitions: 24926, reward mean: 3.3273 +num rollout transitions: 24919, reward mean: 3.3228 +num rollout transitions: 24932, reward mean: 3.3102 +num rollout transitions: 24918, reward mean: 3.3182 +num rollout transitions: 24919, reward mean: 3.3328 +---------------------------------------------------------------------------------- +| alpha | 0.0305 | +| eval/episode_length | 49.9 | +| eval/episode_length_std | 0.237 | +| eval/normalized_episode_reward | 3.19 | +| eval/normalized_episode_reward_std | 0.642 | +| loss/actor | -305 | +| loss/alpha | -0.00317 | +| loss/critic | 4.26 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.445 | +| rollout_info/dynamics_penalty_mean | 0.082 | +| rollout_info/dynamics_penalty_std | 0.168 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24928, reward mean: 3.3080 +num rollout transitions: 24943, reward mean: 3.3327 +num rollout transitions: 24921, reward mean: 3.3397 +num rollout transitions: 24953, reward mean: 3.3102 +num rollout transitions: 24938, reward mean: 3.3448 +num rollout transitions: 24939, reward mean: 3.3180 +num rollout transitions: 24929, reward mean: 3.3170 +num rollout transitions: 24952, reward mean: 3.3352 +num rollout transitions: 24937, reward mean: 3.3078 +num rollout transitions: 24960, reward mean: 3.3079 +num rollout transitions: 24935, reward mean: 3.3104 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3.3148 +num rollout transitions: 24951, reward mean: 3.3007 +num rollout transitions: 24942, reward mean: 3.3215 +num rollout transitions: 24912, reward mean: 3.3206 +num rollout transitions: 24920, reward mean: 3.3115 +num rollout transitions: 24930, reward mean: 3.3228 +num rollout transitions: 24930, reward mean: 3.3508 +num rollout transitions: 24933, reward mean: 3.3397 +num rollout transitions: 24933, reward mean: 3.3044 +num rollout transitions: 24917, reward mean: 3.3296 +num rollout transitions: 24937, reward mean: 3.3015 +num rollout transitions: 24920, reward mean: 3.2906 +num rollout transitions: 24930, reward mean: 3.3410 +num rollout transitions: 24900, reward mean: 3.3230 +num rollout transitions: 24948, reward mean: 3.3209 +num rollout transitions: 24932, reward mean: 3.3338 +num rollout transitions: 24931, reward mean: 3.3317 +num rollout transitions: 24924, reward mean: 3.3152 +num rollout transitions: 24923, reward mean: 3.3055 +num rollout transitions: 24932, reward mean: 3.3244 +num rollout transitions: 24906, reward mean: 3.3271 +---------------------------------------------------------------------------------- +| alpha | 0.0289 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.969 | +| loss/actor | -306 | +| loss/alpha | -0.00556 | +| loss/critic | 3.94 | +| penalty/lcb_mean | 0.206 | +| penalty/lcb_std | 0.431 | +| rollout_info/dynamics_penalty_mean | 0.0774 | +| rollout_info/dynamics_penalty_std | 0.165 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24932, reward mean: 3.3256 +num rollout transitions: 24940, reward mean: 3.3421 +num rollout transitions: 24927, reward mean: 3.3078 +num rollout transitions: 24920, reward mean: 3.3412 +num rollout transitions: 24948, reward 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reward mean: 3.3305 +num rollout transitions: 24916, reward mean: 3.3321 +num rollout transitions: 24938, reward mean: 3.3420 +num rollout transitions: 24925, reward mean: 3.3030 +num rollout transitions: 24941, reward mean: 3.3079 +num rollout transitions: 24914, reward mean: 3.3498 +num rollout transitions: 24953, reward mean: 3.3112 +num rollout transitions: 24925, reward mean: 3.3124 +num rollout transitions: 24938, reward mean: 3.3331 +num rollout transitions: 24957, reward mean: 3.3154 +num rollout transitions: 24918, reward mean: 3.3306 +num rollout transitions: 24927, reward mean: 3.3113 +num rollout transitions: 24941, reward mean: 3.2934 +num rollout transitions: 24920, reward mean: 3.3236 +num rollout transitions: 24906, reward mean: 3.3104 +num rollout transitions: 24929, reward mean: 3.3212 +num rollout transitions: 24899, reward mean: 3.3137 +num rollout transitions: 24919, reward mean: 3.3272 +num rollout transitions: 24921, reward mean: 3.3235 +num rollout transitions: 24901, reward mean: 3.3130 +num rollout transitions: 24914, reward mean: 3.3060 +num rollout transitions: 24940, reward mean: 3.3026 +num rollout transitions: 24919, reward mean: 3.3116 +num rollout transitions: 24926, reward mean: 3.3211 +num rollout transitions: 24935, reward mean: 3.3343 +num rollout transitions: 24932, reward mean: 3.3185 +num rollout transitions: 24934, reward mean: 3.3279 +---------------------------------------------------------------------------------- +| alpha | 0.03 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.736 | +| loss/actor | -308 | +| loss/alpha | 0.0297 | +| loss/critic | 4.91 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.427 | +| rollout_info/dynamics_penalty_mean | 0.0735 | +| rollout_info/dynamics_penalty_std | 0.159 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24935, reward mean: 3.3251 +num rollout transitions: 24952, reward mean: 3.3157 +num rollout transitions: 24934, reward mean: 3.3242 +num rollout transitions: 24943, reward mean: 3.3272 +num rollout transitions: 24935, reward mean: 3.3159 +num rollout transitions: 24923, reward mean: 3.3281 +num rollout transitions: 24940, reward mean: 3.3154 +num rollout transitions: 24940, reward mean: 3.3040 +num rollout transitions: 24940, reward mean: 3.2999 +num rollout transitions: 24928, reward mean: 3.2962 +num rollout transitions: 24911, reward mean: 3.3216 +num rollout transitions: 24943, reward mean: 3.3122 +num rollout transitions: 24898, reward mean: 3.3177 +num rollout transitions: 24930, reward mean: 3.3086 +num rollout transitions: 24918, reward mean: 3.3595 +num rollout transitions: 24941, reward mean: 3.3163 +num rollout transitions: 24931, reward mean: 3.3361 +num rollout 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rollout transitions: 24937, reward mean: 3.3299 +num rollout transitions: 24926, reward mean: 3.3239 +num rollout transitions: 24955, reward mean: 3.3288 +num rollout transitions: 24935, reward mean: 3.3410 +num rollout transitions: 24938, reward mean: 3.3358 +num rollout transitions: 24945, reward mean: 3.3382 +num rollout transitions: 24942, reward mean: 3.3356 +num rollout transitions: 24955, reward mean: 3.3376 +num rollout transitions: 24935, reward mean: 3.3484 +num rollout transitions: 24952, reward mean: 3.3439 +num rollout transitions: 24916, reward mean: 3.3244 +num rollout transitions: 24927, reward mean: 3.3505 +num rollout transitions: 24927, reward mean: 3.3253 +num rollout transitions: 24936, reward mean: 3.3471 +---------------------------------------------------------------------------------- +| alpha | 0.0319 | +| eval/episode_length | 672 | +| eval/episode_length_std | 447 | +| eval/normalized_episode_reward | 72.5 | +| eval/normalized_episode_reward_std | 50.6 | +| loss/actor | -307 | +| loss/alpha | -0.0112 | +| loss/critic | 5.36 | +| penalty/lcb_mean | 0.211 | +| penalty/lcb_std | 0.44 | +| rollout_info/dynamics_penalty_mean | 0.0722 | +| rollout_info/dynamics_penalty_std | 0.16 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24935, reward mean: 3.3184 +num rollout transitions: 24942, reward mean: 3.3335 +num rollout transitions: 24931, reward mean: 3.3090 +num rollout transitions: 24923, reward mean: 3.3066 +num rollout transitions: 24933, reward mean: 3.3533 +num rollout transitions: 24930, reward mean: 3.3328 +num rollout transitions: 24947, reward mean: 3.3359 +num rollout transitions: 24923, reward mean: 3.3284 +num rollout transitions: 24955, reward mean: 3.3139 +num rollout transitions: 24918, reward mean: 3.3456 +num rollout transitions: 24947, reward mean: 3.3160 +num 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mean: 3.3286 +num rollout transitions: 24944, reward mean: 3.3473 +---------------------------------------------------------------------------------- +| alpha | 0.028 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.855 | +| loss/actor | -307 | +| loss/alpha | -0.00712 | +| loss/critic | 4.7 | +| penalty/lcb_mean | 0.201 | +| penalty/lcb_std | 0.418 | +| rollout_info/dynamics_penalty_mean | 0.0813 | +| rollout_info/dynamics_penalty_std | 0.172 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24914, reward mean: 3.3559 +num rollout transitions: 24939, reward mean: 3.3167 +num rollout transitions: 24932, reward mean: 3.3206 +num rollout transitions: 24944, reward mean: 3.3443 +num rollout transitions: 24954, reward mean: 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loss/actor | -305 | +| loss/alpha | -0.00954 | +| loss/critic | 3.32 | +| penalty/lcb_mean | 0.217 | +| penalty/lcb_std | 0.451 | +| rollout_info/dynamics_penalty_mean | 0.0702 | +| rollout_info/dynamics_penalty_std | 0.154 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24924, reward mean: 3.3310 +num rollout transitions: 24929, reward mean: 3.3278 +num rollout transitions: 24926, reward mean: 3.2923 +num rollout transitions: 24919, reward mean: 3.3144 +num rollout transitions: 24923, reward mean: 3.3309 +num rollout transitions: 24940, reward mean: 3.3089 +num rollout transitions: 24924, reward mean: 3.3190 +num rollout transitions: 24935, reward mean: 3.3203 +num rollout transitions: 24948, reward mean: 3.3135 +num rollout transitions: 24947, reward mean: 3.3382 +num rollout transitions: 24948, reward mean: 3.3296 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mean: 3.2908 +num rollout transitions: 24934, reward mean: 3.3218 +---------------------------------------------------------------------------------- +| alpha | 0.0295 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.736 | +| loss/actor | -304 | +| loss/alpha | -0.0123 | +| loss/critic | 4.45 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.464 | +| rollout_info/dynamics_penalty_mean | 0.0731 | +| rollout_info/dynamics_penalty_std | 0.156 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24972, reward mean: 3.3245 +num rollout transitions: 24945, reward mean: 3.3437 +num rollout transitions: 24919, reward mean: 3.3213 +num rollout transitions: 24941, reward mean: 3.3087 +num rollout transitions: 24938, reward 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loss/actor | -307 | +| loss/alpha | -0.00981 | +| loss/critic | 3.59 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.423 | +| rollout_info/dynamics_penalty_mean | 0.0714 | +| rollout_info/dynamics_penalty_std | 0.159 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24922, reward mean: 3.3338 +num rollout transitions: 24944, reward mean: 3.3235 +num rollout transitions: 24937, reward mean: 3.3278 +num rollout transitions: 24948, reward mean: 3.3185 +num rollout transitions: 24917, reward mean: 3.3080 +num rollout transitions: 24944, reward mean: 3.3062 +num rollout transitions: 24935, reward mean: 3.2846 +num rollout transitions: 24919, reward mean: 3.3100 +num rollout transitions: 24940, reward mean: 3.3159 +num rollout transitions: 24920, reward mean: 3.3307 +num rollout transitions: 24942, reward mean: 3.3060 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mean: 3.3144 +num rollout transitions: 24928, reward mean: 3.3252 +---------------------------------------------------------------------------------- +| alpha | 0.0251 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.762 | +| loss/actor | -307 | +| loss/alpha | 0.00211 | +| loss/critic | 3.45 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.437 | +| rollout_info/dynamics_penalty_mean | 0.0696 | +| rollout_info/dynamics_penalty_std | 0.154 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24925, reward mean: 3.3087 +num rollout transitions: 24915, reward mean: 3.3094 +num rollout transitions: 24915, reward mean: 3.3226 +num rollout transitions: 24944, reward mean: 3.3140 +num rollout transitions: 24921, reward 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loss/actor | -305 | +| loss/alpha | -0.0386 | +| loss/critic | 2.93 | +| penalty/lcb_mean | 0.211 | +| penalty/lcb_std | 0.44 | +| rollout_info/dynamics_penalty_mean | 0.0692 | +| rollout_info/dynamics_penalty_std | 0.155 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24915, reward mean: 3.3561 +num rollout transitions: 24914, reward mean: 3.3220 +num rollout transitions: 24934, reward mean: 3.2797 +num rollout transitions: 24936, reward mean: 3.3138 +num rollout transitions: 24935, reward mean: 3.3230 +num rollout transitions: 24932, reward mean: 3.3038 +num rollout transitions: 24931, reward mean: 3.3358 +num rollout transitions: 24935, reward mean: 3.3316 +num rollout transitions: 24923, reward mean: 3.3081 +num rollout transitions: 24951, reward mean: 3.3247 +num rollout transitions: 24925, reward mean: 3.3104 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mean: 3.3330 +num rollout transitions: 24940, reward mean: 3.3187 +---------------------------------------------------------------------------------- +| alpha | 0.0256 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.746 | +| loss/actor | -306 | +| loss/alpha | -0.00117 | +| loss/critic | 3.82 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.446 | +| rollout_info/dynamics_penalty_mean | 0.0683 | +| rollout_info/dynamics_penalty_std | 0.155 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24918, reward mean: 3.3087 +num rollout transitions: 24908, reward mean: 3.3503 +num rollout transitions: 24932, reward mean: 3.3428 +num rollout transitions: 24922, reward mean: 3.3027 +num rollout transitions: 24920, reward 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loss/actor | -306 | +| loss/alpha | -0.00187 | +| loss/critic | 3.77 | +| penalty/lcb_mean | 0.215 | +| penalty/lcb_std | 0.453 | +| rollout_info/dynamics_penalty_mean | 0.0661 | +| rollout_info/dynamics_penalty_std | 0.152 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24942, reward mean: 3.3163 +num rollout transitions: 24927, reward mean: 3.3294 +num rollout transitions: 24931, reward mean: 3.3274 +num rollout transitions: 24931, reward mean: 3.3350 +num rollout transitions: 24908, reward mean: 3.3183 +num rollout transitions: 24929, reward mean: 3.3178 +num rollout transitions: 24907, reward mean: 3.3276 +num rollout transitions: 24943, reward mean: 3.3319 +num rollout transitions: 24941, reward mean: 3.3392 +num rollout transitions: 24933, reward mean: 3.3095 +num rollout transitions: 24924, reward mean: 3.3273 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mean: 3.3123 +num rollout transitions: 24915, reward mean: 3.3320 +---------------------------------------------------------------------------------- +| alpha | 0.0259 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.755 | +| loss/actor | -306 | +| loss/alpha | 0.0161 | +| loss/critic | 7.59 | +| penalty/lcb_mean | 0.216 | +| penalty/lcb_std | 0.445 | +| rollout_info/dynamics_penalty_mean | 0.0849 | +| rollout_info/dynamics_penalty_std | 0.171 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 1900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24922, reward mean: 3.3274 +num rollout transitions: 24935, reward mean: 3.3100 +num rollout transitions: 24927, reward mean: 3.3139 +num rollout transitions: 24941, reward mean: 3.3221 +num rollout transitions: 24926, reward mean: 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loss/actor | -305 | +| loss/alpha | 0.00958 | +| loss/critic | 3.11 | +| penalty/lcb_mean | 0.217 | +| penalty/lcb_std | 0.464 | +| rollout_info/dynamics_penalty_mean | 0.0659 | +| rollout_info/dynamics_penalty_std | 0.151 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24900, reward mean: 3.3132 +num rollout transitions: 24925, reward mean: 3.3076 +num rollout transitions: 24920, reward mean: 3.3062 +num rollout transitions: 24916, reward mean: 3.3247 +num rollout transitions: 24910, reward mean: 3.3118 +num rollout transitions: 24927, reward mean: 3.2976 +num rollout transitions: 24947, reward mean: 3.2974 +num rollout transitions: 24946, reward mean: 3.3251 +num rollout transitions: 24954, reward mean: 3.3230 +num rollout transitions: 24928, reward mean: 3.3274 +num rollout transitions: 24946, reward mean: 3.3365 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mean: 3.3101 +num rollout transitions: 24931, reward mean: 3.2966 +---------------------------------------------------------------------------------- +| alpha | 0.0243 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.735 | +| loss/actor | -304 | +| loss/alpha | 0.00165 | +| loss/critic | 4.04 | +| penalty/lcb_mean | 0.218 | +| penalty/lcb_std | 0.465 | +| rollout_info/dynamics_penalty_mean | 0.0697 | +| rollout_info/dynamics_penalty_std | 0.157 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24930, reward mean: 3.3384 +num rollout transitions: 24938, reward mean: 3.3284 +num rollout transitions: 24917, reward mean: 3.3147 +num rollout transitions: 24930, reward mean: 3.3287 +num rollout transitions: 24921, reward 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rollout transitions: 24925, reward mean: 3.3349 +num rollout transitions: 24936, reward mean: 3.3081 +num rollout transitions: 24945, reward mean: 3.2832 +num rollout transitions: 24901, reward mean: 3.3312 +num rollout transitions: 24937, reward mean: 3.3065 +num rollout transitions: 24936, reward mean: 3.3177 +num rollout transitions: 24935, reward mean: 3.3115 +num rollout transitions: 24937, reward mean: 3.3061 +num rollout transitions: 24911, reward mean: 3.3149 +num rollout transitions: 24930, reward mean: 3.3195 +num rollout transitions: 24928, reward mean: 3.3435 +num rollout transitions: 24936, reward mean: 3.3180 +num rollout transitions: 24940, reward mean: 3.3274 +num rollout transitions: 24951, reward mean: 3.3122 +---------------------------------------------------------------------------------- +| alpha | 0.0239 | +| eval/episode_length | 656 | +| eval/episode_length_std | 284 | +| eval/normalized_episode_reward | 74.9 | +| eval/normalized_episode_reward_std | 32.8 | +| loss/actor | -306 | +| loss/alpha | -0.0141 | +| loss/critic | 4.11 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.451 | +| rollout_info/dynamics_penalty_mean | 0.0742 | +| rollout_info/dynamics_penalty_std | 0.162 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24918, reward mean: 3.3316 +num rollout transitions: 24918, reward mean: 3.3340 +num rollout transitions: 24918, reward mean: 3.3133 +num rollout transitions: 24945, reward mean: 3.3338 +num rollout transitions: 24955, reward mean: 3.3308 +num rollout transitions: 24949, reward mean: 3.3274 +num rollout transitions: 24908, reward mean: 3.3273 +num rollout transitions: 24964, reward mean: 3.3005 +num rollout transitions: 24940, reward mean: 3.3324 +num rollout transitions: 24942, reward mean: 3.3249 +num rollout transitions: 24938, reward mean: 3.3040 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mean: 3.3076 +num rollout transitions: 24934, reward mean: 3.3280 +---------------------------------------------------------------------------------- +| alpha | 0.0236 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.74 | +| loss/actor | -306 | +| loss/alpha | 0.0011 | +| loss/critic | 3.27 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.455 | +| rollout_info/dynamics_penalty_mean | 0.0698 | +| rollout_info/dynamics_penalty_std | 0.157 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24939, reward mean: 3.3420 +num rollout transitions: 24939, reward mean: 3.3007 +num rollout transitions: 24921, reward mean: 3.3261 +num rollout transitions: 24943, reward mean: 3.3116 +num rollout transitions: 24930, reward mean: 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rollout transitions: 24922, reward mean: 3.3135 +num rollout transitions: 24927, reward mean: 3.3307 +num rollout transitions: 24950, reward mean: 3.3344 +num rollout transitions: 24901, reward mean: 3.3213 +num rollout transitions: 24918, reward mean: 3.3198 +num rollout transitions: 24932, reward mean: 3.2985 +num rollout transitions: 24931, reward mean: 3.3244 +num rollout transitions: 24958, reward mean: 3.2941 +num rollout transitions: 24941, reward mean: 3.3119 +num rollout transitions: 24941, reward mean: 3.3347 +num rollout transitions: 24923, reward mean: 3.3164 +num rollout transitions: 24915, reward mean: 3.2974 +num rollout transitions: 24892, reward mean: 3.3149 +num rollout transitions: 24922, reward mean: 3.3219 +---------------------------------------------------------------------------------- +| alpha | 0.0231 | +| eval/episode_length | 44.9 | +| eval/episode_length_std | 0.684 | +| eval/normalized_episode_reward | 2.84 | +| eval/normalized_episode_reward_std | 0.665 | +| loss/actor | -305 | +| loss/alpha | 0.0185 | +| loss/critic | 4.82 | +| penalty/lcb_mean | 0.207 | +| penalty/lcb_std | 0.438 | +| rollout_info/dynamics_penalty_mean | 0.0717 | +| rollout_info/dynamics_penalty_std | 0.157 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24920, reward mean: 3.3281 +num rollout transitions: 24922, reward mean: 3.3072 +num rollout transitions: 24930, reward mean: 3.3338 +num rollout transitions: 24944, reward mean: 3.3268 +num rollout transitions: 24933, reward mean: 3.3215 +num rollout transitions: 24898, reward mean: 3.3216 +num rollout transitions: 24946, reward mean: 3.3079 +num rollout transitions: 24939, reward mean: 3.3249 +num rollout transitions: 24947, reward mean: 3.3117 +num rollout transitions: 24921, reward mean: 3.3104 +num rollout transitions: 24959, reward mean: 3.3176 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mean: 3.3232 +num rollout transitions: 24945, reward mean: 3.3239 +---------------------------------------------------------------------------------- +| alpha | 0.0239 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.74 | +| loss/actor | -305 | +| loss/alpha | 6.23e-05 | +| loss/critic | 3.79 | +| penalty/lcb_mean | 0.211 | +| penalty/lcb_std | 0.451 | +| rollout_info/dynamics_penalty_mean | 0.0753 | +| rollout_info/dynamics_penalty_std | 0.164 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24915, reward mean: 3.3291 +num rollout transitions: 24938, reward mean: 3.3447 +num rollout transitions: 24918, reward mean: 3.3217 +num rollout transitions: 24925, reward mean: 3.3043 +num rollout transitions: 24934, reward 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loss/actor | -305 | +| loss/alpha | -0.00418 | +| loss/critic | 4.83 | +| penalty/lcb_mean | 0.217 | +| penalty/lcb_std | 0.457 | +| rollout_info/dynamics_penalty_mean | 0.0766 | +| rollout_info/dynamics_penalty_std | 0.166 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24906, reward mean: 3.3133 +num rollout transitions: 24942, reward mean: 3.2953 +num rollout transitions: 24946, reward mean: 3.3064 +num rollout transitions: 24928, reward mean: 3.2982 +num rollout transitions: 24943, reward mean: 3.3224 +num rollout transitions: 24924, reward mean: 3.3395 +num rollout transitions: 24929, reward mean: 3.3279 +num rollout transitions: 24934, reward mean: 3.3175 +num rollout transitions: 24931, reward mean: 3.3279 +num rollout transitions: 24915, reward mean: 3.3426 +num rollout transitions: 24909, reward mean: 3.3326 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mean: 3.3073 +num rollout transitions: 24918, reward mean: 3.3164 +---------------------------------------------------------------------------------- +| alpha | 0.0219 | +| eval/episode_length | 125 | +| eval/episode_length_std | 0.762 | +| eval/normalized_episode_reward | 10.1 | +| eval/normalized_episode_reward_std | 0.68 | +| loss/actor | -305 | +| loss/alpha | 0.0031 | +| loss/critic | 3.23 | +| penalty/lcb_mean | 0.211 | +| penalty/lcb_std | 0.457 | +| rollout_info/dynamics_penalty_mean | 0.0708 | +| rollout_info/dynamics_penalty_std | 0.16 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24917, reward mean: 3.3063 +num rollout transitions: 24941, reward mean: 3.3115 +num rollout transitions: 24917, reward mean: 3.3238 +num rollout transitions: 24924, reward mean: 3.3272 +num rollout transitions: 24916, reward 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loss/actor | -305 | +| loss/alpha | 0.028 | +| loss/critic | 4.72 | +| penalty/lcb_mean | 0.216 | +| penalty/lcb_std | 0.466 | +| rollout_info/dynamics_penalty_mean | 0.0718 | +| rollout_info/dynamics_penalty_std | 0.161 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24919, reward mean: 3.3063 +num rollout transitions: 24940, reward mean: 3.3073 +num rollout transitions: 24944, reward mean: 3.3116 +num rollout transitions: 24908, reward mean: 3.2982 +num rollout transitions: 24920, reward mean: 3.2976 +num rollout transitions: 24935, reward mean: 3.3159 +num rollout transitions: 24945, reward mean: 3.3094 +num rollout transitions: 24919, reward mean: 3.3230 +num rollout transitions: 24946, reward mean: 3.2871 +num rollout transitions: 24933, reward mean: 3.3209 +num rollout transitions: 24924, reward mean: 3.3006 +num 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mean: 3.3226 +num rollout transitions: 24938, reward mean: 3.3346 +---------------------------------------------------------------------------------- +| alpha | 0.0206 | +| eval/episode_length | 985 | +| eval/episode_length_std | 108 | +| eval/normalized_episode_reward | 110 | +| eval/normalized_episode_reward_std | 13.1 | +| loss/actor | -305 | +| loss/alpha | 0.0111 | +| loss/critic | 2.59 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.457 | +| rollout_info/dynamics_penalty_mean | 0.0679 | +| rollout_info/dynamics_penalty_std | 0.155 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.32 | +| timestep | 2650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 24954, reward mean: 3.3100 +num rollout transitions: 24930, reward mean: 3.3410 +num rollout transitions: 24922, reward mean: 3.3009 +num rollout transitions: 24932, reward mean: 3.3082 +num rollout transitions: 24932, reward mean: 3.3181 +num rollout transitions: 24941, reward mean: 3.3211 +num rollout transitions: 24918, reward mean: 3.3037 +num rollout transitions: 24919, reward mean: 3.3010 +num rollout transitions: 24934, reward mean: 3.3182 +num rollout transitions: 24956, reward mean: 3.2851 +num rollout transitions: 24930, reward mean: 3.3305 +num rollout transitions: 24927, reward mean: 3.3253 +num rollout transitions: 24911, reward mean: 3.3098 +num rollout transitions: 24941, reward mean: 3.3017 +num rollout transitions: 24924, reward mean: 3.3089 +num rollout transitions: 24920, reward mean: 3.3069 +num rollout transitions: 24898, reward mean: 3.2914 +num rollout transitions: 24936, reward mean: 3.3219 +num rollout transitions: 24925, reward mean: 3.3210 +num rollout transitions: 24941, reward mean: 3.3076 +num rollout transitions: 24948, reward mean: 3.3192 +num rollout transitions: 24920, reward mean: 3.3128 +num rollout transitions: 24942, reward mean: 3.3254 +num rollout transitions: 24926, reward 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reward mean: 3.3093 +num rollout transitions: 24945, reward mean: 3.3245 +num rollout transitions: 24919, reward mean: 3.3034 +num rollout transitions: 24935, reward mean: 3.3021 +num rollout transitions: 24945, reward mean: 3.3196 +num rollout transitions: 24911, reward mean: 3.3060 +num rollout transitions: 24924, reward mean: 3.3165 +num rollout transitions: 24942, reward mean: 3.2898 +---------------------------------------------------------------------------------- +| alpha | 0.0209 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.748 | +| loss/actor | -305 | +| loss/alpha | -0.0137 | +| loss/critic | 3.25 | +| penalty/lcb_mean | 0.217 | +| penalty/lcb_std | 0.471 | +| rollout_info/dynamics_penalty_mean | 0.073 | +| rollout_info/dynamics_penalty_std | 0.16 | +| rollout_info/num_transitions | 2.49e+04 | +| rollout_info/reward_mean | 3.31 | +| timestep | 2700000 | 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+---------------------------------------------------------------------------------- +total time: 68418.54s diff --git a/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_456×tamp_26-0506-193304/record/dynamics_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_456×tamp_26-0506-193304/record/dynamics_training_progress.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_456×tamp_26-0506-193304/record/hyper_param.json b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_456×tamp_26-0506-193304/record/hyper_param.json new file mode 100644 index 0000000000000000000000000000000000000000..b8fe113fcea81e1783c31769bb36d5b419ef918d --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/neuralODE/seed_456×tamp_26-0506-193304/record/hyper_param.json @@ -0,0 +1 @@ +{"config": 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reward mean: 3.4419 +num rollout transitions: 249307, reward mean: 3.4364 +num rollout transitions: 249304, reward mean: 3.4284 +num rollout transitions: 249381, reward mean: 3.4441 +num rollout transitions: 249341, reward mean: 3.4376 +num rollout transitions: 249271, reward mean: 3.4337 +num rollout transitions: 249370, reward mean: 3.4298 +num rollout transitions: 249406, reward mean: 3.4503 +num rollout transitions: 249370, reward mean: 3.4784 +num rollout transitions: 249284, reward mean: 3.4581 +num rollout transitions: 249366, reward mean: 3.4738 +num rollout transitions: 249399, reward mean: 3.4783 +num rollout transitions: 249351, reward mean: 3.4935 +num rollout transitions: 249342, reward mean: 3.4683 +num rollout transitions: 249337, reward mean: 3.4785 +num rollout transitions: 249375, reward mean: 3.4913 +num rollout transitions: 249367, reward mean: 3.4859 +num rollout transitions: 249374, reward mean: 3.4707 +num rollout transitions: 249388, reward mean: 3.4613 +num rollout transitions: 249320, reward mean: 3.4493 +num rollout transitions: 249377, reward mean: 3.4662 +num rollout transitions: 249323, reward mean: 3.4387 +num rollout transitions: 249286, reward mean: 3.4504 +num rollout transitions: 249295, reward mean: 3.4606 +num rollout transitions: 249347, reward mean: 3.4626 +num rollout transitions: 249322, reward mean: 3.4321 +num rollout transitions: 249303, reward mean: 3.4581 +num rollout transitions: 249355, reward mean: 3.4674 +num rollout transitions: 249399, reward mean: 3.4357 +num rollout transitions: 249347, reward mean: 3.4775 +num rollout transitions: 249368, reward mean: 3.4695 +num rollout transitions: 249363, reward mean: 3.4474 +---------------------------------------------------------------------------------- +| alpha | 0.261 | +| eval/episode_length | 27.9 | +| eval/episode_length_std | 0.716 | +| eval/normalized_episode_reward | 2.06 | +| eval/normalized_episode_reward_std | 0.659 | +| loss/actor | -352 | +| loss/alpha | -1.02 | +| loss/critic | 15.8 | +| penalty/lcb_mean | 0.447 | +| penalty/lcb_std | 0.62 | +| rollout_info/dynamics_penalty_mean | 0.0481 | +| rollout_info/dynamics_penalty_std | 0.21 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.45 | +| timestep | 50000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249280, reward mean: 3.4369 +num rollout transitions: 249324, reward mean: 3.4829 +num rollout transitions: 249375, reward mean: 3.4633 +num rollout transitions: 249198, reward mean: 3.4483 +num rollout transitions: 249326, reward mean: 3.4711 +num rollout transitions: 249322, reward mean: 3.4499 +num rollout transitions: 249216, reward mean: 3.4726 +num rollout transitions: 249279, reward mean: 3.4527 +num rollout transitions: 249303, reward mean: 3.4604 +num rollout transitions: 249362, reward mean: 3.4109 +num rollout transitions: 249389, reward mean: 3.4883 +num rollout transitions: 249297, 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reward mean: 3.4198 +num rollout transitions: 249340, reward mean: 3.4204 +---------------------------------------------------------------------------------- +| alpha | 0.103 | +| eval/episode_length | 60 | +| eval/episode_length_std | 0.489 | +| eval/normalized_episode_reward | 4 | +| eval/normalized_episode_reward_std | 0.665 | +| loss/actor | -529 | +| loss/alpha | -0.00723 | +| loss/critic | 22 | +| penalty/lcb_mean | 0.432 | +| penalty/lcb_std | 0.842 | +| rollout_info/dynamics_penalty_mean | 0.0448 | +| rollout_info/dynamics_penalty_std | 0.203 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.44 | +| timestep | 100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249236, reward mean: 3.4135 +num rollout transitions: 249260, reward mean: 3.4175 +num rollout transitions: 249266, reward mean: 3.3849 +num rollout transitions: 249330, reward mean: 3.3933 +num rollout transitions: 249302, reward mean: 3.3966 +num rollout transitions: 249254, reward mean: 3.4153 +num rollout transitions: 249294, reward mean: 3.3719 +num rollout transitions: 249289, reward mean: 3.3881 +num rollout transitions: 249338, reward mean: 3.4084 +num rollout transitions: 249290, reward mean: 3.3834 +num rollout transitions: 249336, reward mean: 3.3778 +num rollout transitions: 249321, reward mean: 3.3860 +num rollout transitions: 249333, reward mean: 3.3648 +num rollout transitions: 249223, reward mean: 3.3476 +num rollout transitions: 249213, reward mean: 3.3665 +num rollout transitions: 249224, reward mean: 3.3640 +num rollout transitions: 249300, reward mean: 3.3622 +num rollout transitions: 249301, reward mean: 3.3734 +num rollout transitions: 249356, reward mean: 3.3469 +num rollout transitions: 249343, reward mean: 3.3785 +num rollout transitions: 249245, reward mean: 3.3951 +num rollout transitions: 249372, reward mean: 3.3691 +num rollout transitions: 249324, reward mean: 3.3758 +num rollout transitions: 249278, reward mean: 3.3720 +num rollout transitions: 249219, reward mean: 3.3689 +num rollout transitions: 249294, reward mean: 3.3802 +num rollout transitions: 249269, reward mean: 3.3619 +num rollout transitions: 249240, reward mean: 3.3962 +num rollout transitions: 249280, reward mean: 3.3835 +num rollout transitions: 249298, reward mean: 3.3756 +num rollout transitions: 249318, reward mean: 3.3898 +num rollout transitions: 249325, reward mean: 3.4074 +num rollout transitions: 249369, reward mean: 3.3849 +num rollout transitions: 249366, reward mean: 3.3760 +num rollout transitions: 249365, reward mean: 3.3701 +num rollout transitions: 249365, reward mean: 3.3549 +num rollout transitions: 249366, reward mean: 3.3587 +num rollout transitions: 249308, reward mean: 3.3758 +num rollout transitions: 249291, reward mean: 3.3719 +num rollout transitions: 249353, reward mean: 3.4086 +num rollout transitions: 249311, reward mean: 3.3703 +num rollout transitions: 249265, reward mean: 3.3943 +num rollout transitions: 249243, reward mean: 3.3908 +num rollout transitions: 249266, reward mean: 3.3664 +num rollout transitions: 249268, reward mean: 3.3076 +num rollout transitions: 249249, reward mean: 3.3512 +num rollout transitions: 249232, reward mean: 3.3558 +num rollout transitions: 249215, reward mean: 3.3656 +num rollout transitions: 249371, reward mean: 3.3512 +num rollout transitions: 249315, reward mean: 3.3704 +---------------------------------------------------------------------------------- +| alpha | 0.0765 | +| eval/episode_length | 107 | +| eval/episode_length_std | 0.765 | +| eval/normalized_episode_reward | 8.76 | +| eval/normalized_episode_reward_std | 0.683 | +| loss/actor | -373 | +| loss/alpha | -0.0179 | +| loss/critic | 13.9 | +| penalty/lcb_mean | 0.297 | +| penalty/lcb_std | 0.517 | +| rollout_info/dynamics_penalty_mean | 0.0188 | +| rollout_info/dynamics_penalty_std | 0.134 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.38 | +| timestep | 150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249254, reward mean: 3.3545 +num rollout transitions: 249312, reward mean: 3.3826 +num rollout transitions: 249300, reward mean: 3.3976 +num rollout transitions: 249328, reward mean: 3.3903 +num rollout transitions: 249347, reward mean: 3.3994 +num rollout transitions: 249348, reward mean: 3.4018 +num rollout transitions: 249314, reward mean: 3.4047 +num rollout transitions: 249380, reward mean: 3.3952 +num rollout transitions: 249216, reward mean: 3.3928 +num rollout transitions: 249288, reward mean: 3.3794 +num rollout transitions: 249299, reward mean: 3.3759 +num rollout transitions: 249318, reward mean: 3.3758 +num rollout transitions: 249311, reward mean: 3.3705 +num rollout transitions: 249227, reward mean: 3.3597 +num rollout transitions: 249321, reward mean: 3.3711 +num rollout transitions: 249393, reward mean: 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transitions: 249401, reward mean: 3.3685 +num rollout transitions: 249346, reward mean: 3.3668 +num rollout transitions: 249364, reward mean: 3.3681 +num rollout transitions: 249347, reward mean: 3.3694 +num rollout transitions: 249349, reward mean: 3.3484 +num rollout transitions: 249293, reward mean: 3.3911 +num rollout transitions: 249337, reward mean: 3.3711 +num rollout transitions: 249308, reward mean: 3.3772 +num rollout transitions: 249274, reward mean: 3.3970 +num rollout transitions: 249344, reward mean: 3.3762 +num rollout transitions: 249325, reward mean: 3.3764 +num rollout transitions: 249306, reward mean: 3.3848 +num rollout transitions: 249335, reward mean: 3.3654 +num rollout transitions: 249303, reward mean: 3.3632 +num rollout transitions: 249345, reward mean: 3.3750 +num rollout transitions: 249351, reward mean: 3.3737 +---------------------------------------------------------------------------------- +| alpha | 0.0627 | +| eval/episode_length | 68.9 | +| eval/episode_length_std | 0.662 | +| eval/normalized_episode_reward | 4.83 | +| eval/normalized_episode_reward_std | 0.669 | +| loss/actor | -317 | +| loss/alpha | -0.0397 | +| loss/critic | 6.86 | +| penalty/lcb_mean | 0.264 | +| penalty/lcb_std | 0.44 | +| rollout_info/dynamics_penalty_mean | 0.028 | +| rollout_info/dynamics_penalty_std | 0.163 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.38 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249338, reward mean: 3.3635 +num rollout transitions: 249315, reward mean: 3.3618 +num rollout transitions: 249262, reward mean: 3.3503 +num rollout transitions: 249415, reward mean: 3.3637 +num rollout transitions: 249310, reward mean: 3.3571 +num rollout transitions: 249219, reward mean: 3.3742 +num rollout transitions: 249319, reward mean: 3.3648 +num rollout transitions: 249258, reward mean: 3.3550 +num rollout transitions: 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+num rollout transitions: 249273, reward mean: 3.3819 +num rollout transitions: 249354, reward mean: 3.3620 +num rollout transitions: 249277, reward mean: 3.3541 +num rollout transitions: 249372, reward mean: 3.3596 +num rollout transitions: 249329, reward mean: 3.3600 +num rollout transitions: 249278, reward mean: 3.3662 +num rollout transitions: 249363, reward mean: 3.3791 +num rollout transitions: 249343, reward mean: 3.3350 +num rollout transitions: 249297, reward mean: 3.3328 +num rollout transitions: 249211, reward mean: 3.3675 +num rollout transitions: 249353, reward mean: 3.3327 +num rollout transitions: 249345, reward mean: 3.3505 +num rollout transitions: 249316, reward mean: 3.3833 +num rollout transitions: 249228, reward mean: 3.3519 +num rollout transitions: 249343, reward mean: 3.3576 +num rollout transitions: 249276, reward mean: 3.3666 +num rollout transitions: 249261, reward mean: 3.3562 +num rollout transitions: 249366, reward mean: 3.3549 +num rollout transitions: 249326, reward mean: 3.3781 +num rollout transitions: 249217, reward mean: 3.3657 +num rollout transitions: 249344, reward mean: 3.3221 +num rollout transitions: 249271, reward mean: 3.3510 +num rollout transitions: 249350, reward mean: 3.3374 +---------------------------------------------------------------------------------- +| alpha | 0.0513 | +| eval/episode_length | 67.6 | +| eval/episode_length_std | 0.605 | +| eval/normalized_episode_reward | 4.89 | +| eval/normalized_episode_reward_std | 0.663 | +| loss/actor | -303 | +| loss/alpha | -0.0331 | +| loss/critic | 7.52 | +| penalty/lcb_mean | 0.232 | +| penalty/lcb_std | 0.419 | +| rollout_info/dynamics_penalty_mean | 0.0195 | +| rollout_info/dynamics_penalty_std | 0.137 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.36 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249270, reward mean: 3.3261 +num rollout transitions: 249317, reward mean: 3.3322 +num rollout transitions: 249242, reward mean: 3.3676 +num rollout transitions: 249277, reward mean: 3.3286 +num rollout transitions: 249325, reward mean: 3.3509 +num rollout transitions: 249329, reward mean: 3.3634 +num rollout transitions: 249271, reward mean: 3.3573 +num rollout transitions: 249320, reward mean: 3.3543 +num rollout transitions: 249325, reward mean: 3.3481 +num rollout transitions: 249303, reward mean: 3.3310 +num rollout transitions: 249288, reward mean: 3.3506 +num rollout transitions: 249265, reward mean: 3.3368 +num rollout transitions: 249239, reward mean: 3.3377 +num rollout transitions: 249304, reward mean: 3.3426 +num rollout transitions: 249251, reward mean: 3.3143 +num rollout transitions: 249356, reward mean: 3.3139 +num rollout transitions: 249368, reward mean: 3.3734 +num rollout transitions: 249301, reward mean: 3.3331 +num rollout transitions: 249263, reward mean: 3.3353 +num rollout transitions: 249311, reward mean: 3.3351 +num rollout transitions: 249320, reward mean: 3.3490 +num rollout transitions: 249356, reward mean: 3.3572 +num rollout transitions: 249335, reward mean: 3.3186 +num rollout transitions: 249305, reward mean: 3.3414 +num rollout transitions: 249357, reward mean: 3.3811 +num rollout transitions: 249376, reward mean: 3.3435 +num rollout transitions: 249353, reward mean: 3.3194 +num rollout transitions: 249342, reward mean: 3.3568 +num rollout transitions: 249214, reward mean: 3.3430 +num rollout transitions: 249324, reward mean: 3.3541 +num rollout transitions: 249393, reward mean: 3.3334 +num rollout transitions: 249259, reward mean: 3.3189 +num rollout transitions: 249324, reward mean: 3.3235 +num rollout transitions: 249299, reward mean: 3.3445 +num rollout transitions: 249192, reward mean: 3.3470 +num rollout transitions: 249329, reward mean: 3.3309 +num rollout transitions: 249273, reward mean: 3.3311 +num rollout transitions: 249355, reward mean: 3.3300 +num rollout transitions: 249351, reward mean: 3.3672 +num rollout transitions: 249327, reward mean: 3.3137 +num rollout transitions: 249311, reward mean: 3.3628 +num rollout transitions: 249364, reward mean: 3.3521 +num rollout transitions: 249305, reward mean: 3.3681 +num rollout transitions: 249405, reward mean: 3.3615 +num rollout transitions: 249283, reward mean: 3.3712 +num rollout transitions: 249374, reward mean: 3.3860 +num rollout transitions: 249294, reward mean: 3.3419 +num rollout transitions: 249416, reward mean: 3.3708 +num rollout transitions: 249338, reward mean: 3.3426 +num rollout transitions: 249329, reward mean: 3.3278 +---------------------------------------------------------------------------------- +| alpha | 0.04 | +| eval/episode_length | 30.9 | +| eval/episode_length_std | 0.984 | +| eval/normalized_episode_reward | 1.88 | +| eval/normalized_episode_reward_std | 0.677 | +| loss/actor | -301 | +| loss/alpha | 0.00137 | +| loss/critic | 8.02 | +| penalty/lcb_mean | 0.208 | +| penalty/lcb_std | 0.402 | +| rollout_info/dynamics_penalty_mean | 0.0109 | +| rollout_info/dynamics_penalty_std | 0.102 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249314, reward mean: 3.3512 +num rollout transitions: 249382, reward mean: 3.3297 +num rollout transitions: 249376, reward mean: 3.3326 +num rollout transitions: 249271, reward mean: 3.3858 +num rollout transitions: 249351, reward mean: 3.3450 +num rollout transitions: 249337, reward mean: 3.3557 +num rollout transitions: 249348, reward mean: 3.3403 +num rollout transitions: 249259, reward mean: 3.3306 +num rollout transitions: 249367, reward mean: 3.3333 +num rollout transitions: 249341, reward mean: 3.3296 +num rollout transitions: 249386, reward mean: 3.3548 +num rollout transitions: 249354, reward mean: 3.3258 +num rollout transitions: 249394, 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rollout transitions: 249313, reward mean: 3.3438 +num rollout transitions: 249345, reward mean: 3.3239 +num rollout transitions: 249340, reward mean: 3.3501 +num rollout transitions: 249337, reward mean: 3.3408 +num rollout transitions: 249352, reward mean: 3.3338 +num rollout transitions: 249312, reward mean: 3.3435 +num rollout transitions: 249369, reward mean: 3.3393 +num rollout transitions: 249349, reward mean: 3.3277 +num rollout transitions: 249306, reward mean: 3.3423 +num rollout transitions: 249346, reward mean: 3.3269 +num rollout transitions: 249269, reward mean: 3.3418 +num rollout transitions: 249304, reward mean: 3.3426 +num rollout transitions: 249330, reward mean: 3.3402 +num rollout transitions: 249363, reward mean: 3.3318 +num rollout transitions: 249310, reward mean: 3.3455 +num rollout transitions: 249366, reward mean: 3.3418 +num rollout transitions: 249393, reward mean: 3.3385 +num rollout transitions: 249323, reward mean: 3.3377 +num rollout transitions: 249362, reward mean: 3.3374 +---------------------------------------------------------------------------------- +| alpha | 0.0343 | +| eval/episode_length | 306 | +| eval/episode_length_std | 155 | +| eval/normalized_episode_reward | 32.9 | +| eval/normalized_episode_reward_std | 18.5 | +| loss/actor | -302 | +| loss/alpha | -0.0406 | +| loss/critic | 4.84 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.382 | +| rollout_info/dynamics_penalty_mean | 0.00883 | +| rollout_info/dynamics_penalty_std | 0.0928 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249298, reward mean: 3.3145 +num rollout transitions: 249357, reward mean: 3.3396 +num rollout transitions: 249303, reward mean: 3.3414 +num rollout transitions: 249333, reward mean: 3.3383 +num rollout transitions: 249228, reward mean: 3.2892 +num rollout transitions: 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+---------------------------------------------------------------------------------- +num rollout transitions: 249344, reward mean: 3.3254 +num rollout transitions: 249331, reward mean: 3.3387 +num rollout transitions: 249288, reward mean: 3.3431 +num rollout transitions: 249295, reward mean: 3.3344 +num rollout transitions: 249298, reward mean: 3.3466 +num rollout transitions: 249199, reward mean: 3.3002 +num rollout transitions: 249345, reward mean: 3.4065 +num rollout transitions: 249302, reward mean: 3.4135 +num rollout transitions: 249271, reward mean: 3.3461 +num rollout transitions: 249342, reward mean: 3.3525 +num rollout transitions: 249312, reward mean: 3.3759 +num rollout transitions: 249304, reward mean: 3.3652 +num rollout transitions: 249312, reward mean: 3.3468 +num rollout transitions: 249265, reward mean: 3.3473 +num rollout transitions: 249193, reward mean: 3.3412 +num rollout transitions: 249361, reward mean: 3.3250 +num rollout transitions: 249313, reward mean: 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transitions: 249302, reward mean: 3.3112 +num rollout transitions: 249343, reward mean: 3.3325 +num rollout transitions: 249368, reward mean: 3.3317 +num rollout transitions: 249332, reward mean: 3.3448 +num rollout transitions: 249226, reward mean: 3.3159 +num rollout transitions: 249321, reward mean: 3.3377 +num rollout transitions: 249321, reward mean: 3.3334 +num rollout transitions: 249309, reward mean: 3.3454 +num rollout transitions: 249271, reward mean: 3.3139 +num rollout transitions: 249334, reward mean: 3.3315 +num rollout transitions: 249288, reward mean: 3.3453 +num rollout transitions: 249353, reward mean: 3.3428 +num rollout transitions: 249292, reward mean: 3.3208 +num rollout transitions: 249347, reward mean: 3.3531 +num rollout transitions: 249323, reward mean: 3.3129 +---------------------------------------------------------------------------------- +| alpha | 0.031 | +| eval/episode_length | 473 | +| eval/episode_length_std | 128 | +| eval/normalized_episode_reward | 50.6 | +| eval/normalized_episode_reward_std | 15.2 | +| loss/actor | -305 | +| loss/alpha | 0.0455 | +| loss/critic | 6.39 | +| penalty/lcb_mean | 0.19 | +| penalty/lcb_std | 0.384 | +| rollout_info/dynamics_penalty_mean | 0.00685 | +| rollout_info/dynamics_penalty_std | 0.082 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249376, reward mean: 3.3224 +num rollout transitions: 249293, reward mean: 3.3066 +num rollout transitions: 249319, reward mean: 3.3579 +num rollout transitions: 249320, reward mean: 3.3379 +num rollout transitions: 249370, reward mean: 3.3389 +num rollout transitions: 249295, reward mean: 3.3260 +num rollout transitions: 249286, reward mean: 3.3276 +num rollout transitions: 249374, reward mean: 3.3179 +num rollout transitions: 249339, reward mean: 3.3252 +num rollout transitions: 249264, reward 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mean: 3.3442 +num rollout transitions: 249257, reward mean: 3.3399 +num rollout transitions: 249382, reward mean: 3.3344 +num rollout transitions: 249382, reward mean: 3.3206 +---------------------------------------------------------------------------------- +| alpha | 0.0289 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.759 | +| loss/actor | -303 | +| loss/alpha | -0.00689 | +| loss/critic | 4.97 | +| penalty/lcb_mean | 0.196 | +| penalty/lcb_std | 0.401 | +| rollout_info/dynamics_penalty_mean | 0.00589 | +| rollout_info/dynamics_penalty_std | 0.076 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249353, reward mean: 3.3479 +num rollout transitions: 249316, reward mean: 3.3254 +num rollout transitions: 249307, 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rollout transitions: 249232, reward mean: 3.3233 +num rollout transitions: 249363, reward mean: 3.3578 +num rollout transitions: 249387, reward mean: 3.3170 +num rollout transitions: 249331, reward mean: 3.3371 +num rollout transitions: 249331, reward mean: 3.3432 +num rollout transitions: 249234, reward mean: 3.3129 +num rollout transitions: 249342, reward mean: 3.3243 +num rollout transitions: 249233, reward mean: 3.3135 +num rollout transitions: 249340, reward mean: 3.3223 +num rollout transitions: 249338, reward mean: 3.3283 +num rollout transitions: 249269, reward mean: 3.3222 +num rollout transitions: 249429, reward mean: 3.3486 +num rollout transitions: 249348, reward mean: 3.3358 +num rollout transitions: 249239, reward mean: 3.3330 +num rollout transitions: 249380, reward mean: 3.3202 +num rollout transitions: 249083, reward mean: 3.3227 +num rollout transitions: 249323, reward mean: 3.3866 +num rollout transitions: 249379, reward mean: 3.3464 +num rollout transitions: 249259, reward mean: 3.3412 +num rollout transitions: 249286, reward mean: 3.3290 +num rollout transitions: 249276, reward mean: 3.3491 +num rollout transitions: 249275, reward mean: 3.3405 +num rollout transitions: 249292, reward mean: 3.3503 +num rollout transitions: 249182, reward mean: 3.3448 +num rollout transitions: 249321, reward mean: 3.3544 +num rollout transitions: 249344, reward mean: 3.3179 +num rollout transitions: 249327, reward mean: 3.3501 +num rollout transitions: 249297, reward mean: 3.3328 +num rollout transitions: 249369, reward mean: 3.3384 +---------------------------------------------------------------------------------- +| alpha | 0.0308 | +| eval/episode_length | 557 | +| eval/episode_length_std | 198 | +| eval/normalized_episode_reward | 60.2 | +| eval/normalized_episode_reward_std | 23.4 | +| loss/actor | -301 | +| loss/alpha | 0.0171 | +| loss/critic | 7.08 | +| penalty/lcb_mean | 0.206 | +| penalty/lcb_std | 0.419 | +| rollout_info/dynamics_penalty_mean | 0.00569 | +| rollout_info/dynamics_penalty_std | 0.0749 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249338, reward mean: 3.3204 +num rollout transitions: 249297, reward mean: 3.3272 +num rollout transitions: 249246, reward mean: 3.3185 +num rollout transitions: 249383, reward mean: 3.3248 +num rollout transitions: 249382, reward mean: 3.3017 +num rollout transitions: 249297, reward mean: 3.3341 +num rollout transitions: 249329, reward mean: 3.3182 +num rollout transitions: 249356, reward mean: 3.3221 +num rollout transitions: 249280, reward mean: 3.3395 +num rollout transitions: 249373, reward mean: 3.3318 +num rollout transitions: 249399, reward mean: 3.3203 +num rollout transitions: 249213, reward mean: 3.3296 +num rollout transitions: 249283, reward mean: 3.3307 +num rollout transitions: 249343, reward mean: 3.3238 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.028 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.886 | +| loss/actor | -302 | +| loss/alpha | 0.00302 | +| loss/critic | 4.34 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.394 | +| rollout_info/dynamics_penalty_mean | 0.00535 | +| rollout_info/dynamics_penalty_std | 0.0726 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249338, reward mean: 3.3265 +num rollout transitions: 249364, reward mean: 3.3316 +num rollout transitions: 249354, reward mean: 3.3303 +num rollout transitions: 249334, reward mean: 3.3367 +num rollout transitions: 249377, reward mean: 3.3380 +num rollout transitions: 249359, reward mean: 3.3487 +num rollout transitions: 249330, reward mean: 3.3360 +num rollout transitions: 249278, reward mean: 3.3255 +num rollout transitions: 249360, reward mean: 3.3289 +num rollout transitions: 249388, reward mean: 3.3208 +num rollout transitions: 249304, reward mean: 3.3402 +num rollout transitions: 249353, reward mean: 3.3300 +num rollout transitions: 249222, reward mean: 3.3351 +num rollout transitions: 249320, reward mean: 3.3470 +num rollout transitions: 249346, reward mean: 3.3425 +num rollout transitions: 249252, reward mean: 3.3359 +num rollout transitions: 249344, reward mean: 3.3246 +num rollout transitions: 249349, reward mean: 3.3252 +num rollout transitions: 249403, reward mean: 3.3254 +num rollout transitions: 249353, reward mean: 3.3336 +num rollout transitions: 249415, reward mean: 3.3468 +num rollout transitions: 249425, reward mean: 3.3134 +num rollout transitions: 249297, reward mean: 3.3333 +num rollout transitions: 249289, reward mean: 3.3212 +num rollout transitions: 249255, reward mean: 3.3312 +num rollout transitions: 249288, reward mean: 3.3253 +num rollout transitions: 249395, reward mean: 3.3244 +num rollout transitions: 249334, reward mean: 3.3359 +num rollout transitions: 249302, reward mean: 3.3361 +num rollout transitions: 249367, reward mean: 3.3291 +num rollout transitions: 249357, reward mean: 3.3098 +num rollout transitions: 249348, reward mean: 3.3352 +num rollout transitions: 249350, reward mean: 3.3324 +num rollout transitions: 249428, reward mean: 3.3332 +num rollout transitions: 249305, reward mean: 3.3182 +num rollout transitions: 249362, reward mean: 3.3293 +num rollout transitions: 249303, reward mean: 3.2917 +num rollout transitions: 249444, reward mean: 3.3499 +num rollout transitions: 249255, reward mean: 3.3480 +num rollout transitions: 249281, reward mean: 3.3257 +num rollout transitions: 249377, reward mean: 3.3316 +num rollout transitions: 249265, reward mean: 3.3181 +num rollout transitions: 249275, reward 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transitions: 249332, reward mean: 3.3231 +num rollout transitions: 249330, reward mean: 3.3374 +num rollout transitions: 249364, reward mean: 3.3176 +num rollout transitions: 249255, reward mean: 3.3270 +num rollout transitions: 249323, reward mean: 3.3423 +num rollout transitions: 249309, reward mean: 3.3213 +num rollout transitions: 249308, reward mean: 3.3515 +num rollout transitions: 249348, reward mean: 3.3263 +num rollout transitions: 249343, reward mean: 3.3329 +num rollout transitions: 249350, reward mean: 3.3349 +num rollout transitions: 249285, reward mean: 3.3514 +num rollout transitions: 249308, reward mean: 3.3317 +num rollout transitions: 249357, reward mean: 3.3478 +num rollout transitions: 249327, reward mean: 3.3063 +num rollout transitions: 249290, reward mean: 3.3391 +---------------------------------------------------------------------------------- +| alpha | 0.0255 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.843 | +| loss/actor | -306 | +| loss/alpha | 0.0109 | +| loss/critic | 4.22 | +| penalty/lcb_mean | 0.204 | +| penalty/lcb_std | 0.43 | +| rollout_info/dynamics_penalty_mean | 0.00526 | +| rollout_info/dynamics_penalty_std | 0.0721 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249321, reward mean: 3.3353 +num rollout transitions: 249319, reward mean: 3.3396 +num rollout transitions: 249290, reward mean: 3.3443 +num rollout transitions: 249327, reward mean: 3.3620 +num rollout transitions: 249267, reward mean: 3.3118 +num rollout transitions: 249363, reward mean: 3.3376 +num rollout transitions: 249313, reward mean: 3.3335 +num rollout transitions: 249335, reward mean: 3.3309 +num rollout transitions: 249378, reward mean: 3.3109 +num rollout transitions: 249374, reward 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mean: 3.3169 +num rollout transitions: 249291, reward mean: 3.3412 +num rollout transitions: 249324, reward mean: 3.3004 +num rollout transitions: 249412, reward mean: 3.3765 +---------------------------------------------------------------------------------- +| alpha | 0.0258 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.835 | +| loss/actor | -307 | +| loss/alpha | 0.0277 | +| loss/critic | 4.45 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.427 | +| rollout_info/dynamics_penalty_mean | 0.00455 | +| rollout_info/dynamics_penalty_std | 0.067 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249259, reward mean: 3.3706 +num rollout transitions: 249248, reward mean: 3.3303 +num rollout transitions: 249368, reward mean: 3.3536 +num rollout transitions: 249333, reward mean: 3.3306 +num rollout transitions: 249332, reward mean: 3.3387 +num rollout transitions: 249288, reward mean: 3.3216 +num rollout transitions: 249263, reward mean: 3.3230 +num rollout transitions: 249357, reward mean: 3.3261 +num rollout transitions: 249358, reward mean: 3.3319 +num rollout transitions: 249404, reward mean: 3.3400 +num rollout transitions: 249382, reward mean: 3.3380 +num rollout transitions: 249282, reward mean: 3.3297 +num rollout transitions: 249345, reward mean: 3.3326 +num rollout transitions: 249302, reward mean: 3.3413 +num rollout transitions: 249220, reward mean: 3.3317 +num rollout transitions: 249376, reward mean: 3.3079 +num rollout transitions: 249354, reward mean: 3.3409 +num rollout transitions: 249304, reward mean: 3.3374 +num rollout transitions: 249421, reward mean: 3.3408 +num rollout transitions: 249329, reward mean: 3.3516 +num rollout transitions: 249312, reward mean: 3.3144 +num rollout transitions: 249386, reward mean: 3.3449 +num rollout transitions: 249281, reward mean: 3.3380 +num rollout transitions: 249328, reward mean: 3.3365 +num rollout transitions: 249322, reward mean: 3.3514 +num rollout transitions: 249327, reward mean: 3.3267 +num rollout transitions: 249296, reward mean: 3.3325 +num rollout transitions: 249341, reward mean: 3.3246 +num rollout transitions: 249295, reward mean: 3.3386 +num rollout transitions: 249375, reward mean: 3.3383 +num rollout transitions: 249329, reward mean: 3.3402 +num rollout transitions: 249302, reward mean: 3.3337 +num rollout transitions: 249318, reward mean: 3.3287 +num rollout transitions: 249365, reward mean: 3.3214 +num rollout transitions: 249291, reward mean: 3.3456 +num rollout transitions: 249333, reward mean: 3.3335 +num rollout transitions: 249300, reward mean: 3.3371 +num rollout transitions: 249334, reward mean: 3.3214 +num rollout transitions: 249279, reward mean: 3.3293 +num rollout transitions: 249370, reward 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rollout_info/dynamics_penalty_std | 0.068 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249234, reward mean: 3.3269 +num rollout transitions: 249355, reward mean: 3.3415 +num rollout transitions: 249368, reward mean: 3.3308 +num rollout transitions: 249268, reward mean: 3.3235 +num rollout transitions: 249256, reward mean: 3.3231 +num rollout transitions: 249353, reward mean: 3.3717 +num rollout transitions: 249344, reward mean: 3.3282 +num rollout transitions: 249335, reward mean: 3.3631 +num rollout transitions: 249245, reward mean: 3.3399 +num rollout transitions: 249194, reward mean: 3.3375 +num rollout transitions: 249350, reward mean: 3.3175 +num rollout transitions: 249367, reward mean: 3.3430 +num rollout transitions: 249197, reward mean: 3.3202 +num rollout transitions: 249314, reward mean: 3.3275 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.0253 | +| eval/episode_length | 40.3 | +| eval/episode_length_std | 0.983 | +| eval/normalized_episode_reward | 2.5 | +| eval/normalized_episode_reward_std | 0.689 | +| loss/actor | -307 | +| loss/alpha | -0.01 | +| loss/critic | 4.19 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.431 | +| rollout_info/dynamics_penalty_mean | 0.00478 | +| rollout_info/dynamics_penalty_std | 0.0686 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249366, reward mean: 3.3174 +num rollout transitions: 249355, reward mean: 3.3386 +num rollout transitions: 249368, reward mean: 3.3549 +num rollout transitions: 249334, reward mean: 3.3408 +num rollout transitions: 249280, reward mean: 3.3456 +num rollout transitions: 249371, reward mean: 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transitions: 249354, reward mean: 3.3443 +num rollout transitions: 249308, reward mean: 3.3409 +num rollout transitions: 249297, reward mean: 3.3367 +num rollout transitions: 249282, reward mean: 3.3304 +num rollout transitions: 249221, reward mean: 3.3319 +num rollout transitions: 249312, reward mean: 3.3387 +num rollout transitions: 249301, reward mean: 3.3430 +num rollout transitions: 249374, reward mean: 3.3316 +num rollout transitions: 249346, reward mean: 3.3301 +num rollout transitions: 249335, reward mean: 3.3164 +num rollout transitions: 249377, reward mean: 3.3364 +num rollout transitions: 249375, reward mean: 3.3345 +num rollout transitions: 249290, reward mean: 3.3399 +num rollout transitions: 249288, reward mean: 3.3357 +num rollout transitions: 249328, reward mean: 3.3285 +num rollout transitions: 249267, reward mean: 3.3323 +num rollout transitions: 249358, reward mean: 3.3361 +num rollout transitions: 249359, reward mean: 3.3326 +num rollout transitions: 249315, reward 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transitions: 249307, reward mean: 3.3320 +num rollout transitions: 249340, reward mean: 3.3362 +num rollout transitions: 249364, reward mean: 3.3315 +num rollout transitions: 249349, reward mean: 3.3560 +num rollout transitions: 249269, reward mean: 3.3512 +num rollout transitions: 249290, reward mean: 3.3177 +num rollout transitions: 249364, reward mean: 3.3421 +num rollout transitions: 249364, reward mean: 3.3443 +num rollout transitions: 249347, reward mean: 3.3307 +num rollout transitions: 249366, reward mean: 3.3281 +num rollout transitions: 249256, reward mean: 3.3354 +num rollout transitions: 249308, reward mean: 3.3465 +num rollout transitions: 249255, reward mean: 3.3251 +num rollout transitions: 249305, reward mean: 3.3570 +num rollout transitions: 249374, reward mean: 3.3375 +---------------------------------------------------------------------------------- +| alpha | 0.0246 | +| eval/episode_length | 133 | +| eval/episode_length_std | 20.1 | +| eval/normalized_episode_reward | 11.4 | +| eval/normalized_episode_reward_std | 2.97 | +| loss/actor | -307 | +| loss/alpha | 0.00436 | +| loss/critic | 3.66 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.437 | +| rollout_info/dynamics_penalty_mean | 0.00461 | +| rollout_info/dynamics_penalty_std | 0.0675 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249308, reward mean: 3.3353 +num rollout transitions: 249233, reward mean: 3.3487 +num rollout transitions: 249372, reward mean: 3.3374 +num rollout transitions: 249381, reward mean: 3.3548 +num rollout transitions: 249206, reward mean: 3.3219 +num rollout transitions: 249310, reward mean: 3.3375 +num rollout transitions: 249320, reward mean: 3.3321 +num rollout transitions: 249271, reward mean: 3.3285 +num rollout transitions: 249285, reward mean: 3.3659 +num 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rollout transitions: 249339, reward mean: 3.3366 +num rollout transitions: 249283, reward mean: 3.3600 +num rollout transitions: 249324, reward mean: 3.3248 +num rollout transitions: 249308, reward mean: 3.3062 +---------------------------------------------------------------------------------- +| alpha | 0.0248 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.931 | +| loss/actor | -308 | +| loss/alpha | 0.00693 | +| loss/critic | 4.03 | +| penalty/lcb_mean | 0.206 | +| penalty/lcb_std | 0.431 | +| rollout_info/dynamics_penalty_mean | 0.00507 | +| rollout_info/dynamics_penalty_std | 0.0708 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249318, reward mean: 3.3299 +num rollout transitions: 249329, reward mean: 3.3289 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+num rollout transitions: 249299, reward mean: 3.3201 +num rollout transitions: 249341, reward mean: 3.3281 +num rollout transitions: 249315, reward mean: 3.3283 +num rollout transitions: 249364, reward mean: 3.3451 +num rollout transitions: 249325, reward mean: 3.3644 +num rollout transitions: 249310, reward mean: 3.3122 +num rollout transitions: 249323, reward mean: 3.3582 +num rollout transitions: 249394, reward mean: 3.3468 +num rollout transitions: 249337, reward mean: 3.3554 +num rollout transitions: 249392, reward mean: 3.3597 +num rollout transitions: 249326, reward mean: 3.3606 +---------------------------------------------------------------------------------- +| alpha | 0.0249 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.775 | +| loss/actor | -307 | +| loss/alpha | 0.00817 | +| loss/critic | 3.95 | +| penalty/lcb_mean | 0.207 | +| penalty/lcb_std | 0.432 | +| rollout_info/dynamics_penalty_mean | 0.00503 | +| rollout_info/dynamics_penalty_std | 0.0704 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249420, reward mean: 3.3372 +num rollout transitions: 249273, reward mean: 3.3501 +num rollout transitions: 249302, reward mean: 3.3400 +num rollout transitions: 249331, reward mean: 3.3396 +num rollout transitions: 249358, reward mean: 3.3226 +num rollout transitions: 249380, reward mean: 3.3260 +num rollout transitions: 249349, reward mean: 3.3443 +num rollout transitions: 249270, reward mean: 3.3173 +num rollout transitions: 249372, reward mean: 3.3196 +num rollout transitions: 249305, reward mean: 3.3390 +num rollout transitions: 249346, reward mean: 3.3519 +num rollout transitions: 249250, reward mean: 3.3326 +num rollout transitions: 249347, reward mean: 3.3372 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0244 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.728 | +| loss/actor | -307 | +| loss/alpha | -0.0211 | +| loss/critic | 3.48 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.448 | +| rollout_info/dynamics_penalty_mean | 0.00532 | +| rollout_info/dynamics_penalty_std | 0.0724 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249306, reward mean: 3.3242 +num rollout transitions: 249336, reward mean: 3.3364 +num rollout transitions: 249394, reward mean: 3.3250 +num rollout transitions: 249358, reward mean: 3.3371 +num rollout transitions: 249396, reward mean: 3.3345 +num rollout transitions: 249284, reward mean: 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| 98.3 | +| eval/normalized_episode_reward_std | 20.1 | +| loss/actor | -309 | +| loss/alpha | 0.0058 | +| loss/critic | 3.55 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.423 | +| rollout_info/dynamics_penalty_mean | 0.00567 | +| rollout_info/dynamics_penalty_std | 0.0748 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249358, reward mean: 3.3390 +num rollout transitions: 249316, reward mean: 3.3429 +num rollout transitions: 249308, reward mean: 3.3329 +num rollout transitions: 249318, reward mean: 3.3466 +num rollout transitions: 249263, reward mean: 3.3334 +num rollout transitions: 249391, reward mean: 3.3415 +num rollout transitions: 249251, reward mean: 3.3390 +num rollout transitions: 249299, reward mean: 3.3432 +num rollout transitions: 249227, reward mean: 3.3493 +num rollout transitions: 249255, 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reward mean: 3.3510 +num rollout transitions: 249299, reward mean: 3.3368 +num rollout transitions: 249311, reward mean: 3.3536 +num rollout transitions: 249330, reward mean: 3.3535 +---------------------------------------------------------------------------------- +| alpha | 0.023 | +| eval/episode_length | 31.9 | +| eval/episode_length_std | 0.384 | +| eval/normalized_episode_reward | 2 | +| eval/normalized_episode_reward_std | 0.644 | +| loss/actor | -309 | +| loss/alpha | -0.00437 | +| loss/critic | 3.94 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.434 | +| rollout_info/dynamics_penalty_mean | 0.00526 | +| rollout_info/dynamics_penalty_std | 0.072 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249347, reward mean: 3.3419 +num rollout transitions: 249296, reward mean: 3.3211 +num rollout transitions: 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0.00529 | +| rollout_info/dynamics_penalty_std | 0.0723 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1300000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249250, reward mean: 3.3196 +num rollout transitions: 249387, reward mean: 3.3462 +num rollout transitions: 249370, reward mean: 3.3432 +num rollout transitions: 249390, reward mean: 3.3396 +num rollout transitions: 249298, reward mean: 3.3543 +num rollout transitions: 249325, reward mean: 3.3371 +num rollout transitions: 249346, reward mean: 3.3241 +num rollout transitions: 249317, reward mean: 3.3546 +num rollout transitions: 249247, reward mean: 3.3193 +num rollout transitions: 249387, reward mean: 3.3437 +num rollout transitions: 249313, reward mean: 3.3296 +num rollout transitions: 249276, reward mean: 3.3253 +num rollout transitions: 249287, reward mean: 3.3328 +num rollout transitions: 249273, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0226 | +| eval/episode_length | 990 | +| eval/episode_length_std | 95.3 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 11.6 | +| loss/actor | -310 | +| loss/alpha | 0.0119 | +| loss/critic | 4.27 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.422 | +| rollout_info/dynamics_penalty_mean | 0.00516 | +| rollout_info/dynamics_penalty_std | 0.0713 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249332, reward mean: 3.3394 +num rollout transitions: 249287, reward mean: 3.3450 +num rollout transitions: 249360, reward mean: 3.3479 +num rollout transitions: 249343, reward mean: 3.3325 +num rollout transitions: 249323, reward mean: 3.3483 +num rollout transitions: 249321, reward mean: 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| 113 | +| eval/normalized_episode_reward_std | 0.722 | +| loss/actor | -309 | +| loss/alpha | -0.0438 | +| loss/critic | 3.45 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.441 | +| rollout_info/dynamics_penalty_mean | 0.00531 | +| rollout_info/dynamics_penalty_std | 0.0723 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249353, reward mean: 3.3455 +num rollout transitions: 249414, reward mean: 3.3435 +num rollout transitions: 249338, reward mean: 3.3241 +num rollout transitions: 249242, reward mean: 3.3332 +num rollout transitions: 249365, reward mean: 3.3449 +num rollout transitions: 249354, reward mean: 3.3499 +num rollout transitions: 249371, reward mean: 3.3583 +num rollout transitions: 249327, reward mean: 3.3400 +num rollout transitions: 249352, reward mean: 3.3553 +num rollout transitions: 249259, 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reward mean: 3.3528 +num rollout transitions: 249278, reward mean: 3.3522 +num rollout transitions: 249286, reward mean: 3.3394 +num rollout transitions: 249268, reward mean: 3.3258 +---------------------------------------------------------------------------------- +| alpha | 0.0234 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.747 | +| loss/actor | -309 | +| loss/alpha | -0.00124 | +| loss/critic | 3.44 | +| penalty/lcb_mean | 0.207 | +| penalty/lcb_std | 0.434 | +| rollout_info/dynamics_penalty_mean | 0.00537 | +| rollout_info/dynamics_penalty_std | 0.0728 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249317, reward mean: 3.3525 +num rollout transitions: 249259, reward mean: 3.3400 +num rollout transitions: 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0.00459 | +| rollout_info/dynamics_penalty_std | 0.0674 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249281, reward mean: 3.3361 +num rollout transitions: 249305, reward mean: 3.3527 +num rollout transitions: 249238, reward mean: 3.3490 +num rollout transitions: 249297, reward mean: 3.3461 +num rollout transitions: 249280, reward mean: 3.3267 +num rollout transitions: 249364, reward mean: 3.3663 +num rollout transitions: 249332, reward mean: 3.3549 +num rollout transitions: 249281, reward mean: 3.3395 +num rollout transitions: 249349, reward mean: 3.3437 +num rollout transitions: 249329, reward mean: 3.3448 +num rollout transitions: 249357, reward mean: 3.3416 +num rollout transitions: 249407, reward mean: 3.3432 +num rollout transitions: 249365, reward mean: 3.3284 +num rollout transitions: 249290, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0231 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.747 | +| loss/actor | -308 | +| loss/alpha | -0.00596 | +| loss/critic | 3.23 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.451 | +| rollout_info/dynamics_penalty_mean | 0.00464 | +| rollout_info/dynamics_penalty_std | 0.0678 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249278, reward mean: 3.3303 +num rollout transitions: 249238, reward mean: 3.3280 +num rollout transitions: 249282, reward mean: 3.3368 +num rollout transitions: 249217, reward mean: 3.3359 +num rollout transitions: 249341, reward mean: 3.3471 +num rollout transitions: 249313, reward mean: 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| 112 | +| eval/normalized_episode_reward_std | 0.81 | +| loss/actor | -307 | +| loss/alpha | 0.00697 | +| loss/critic | 4.22 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.467 | +| rollout_info/dynamics_penalty_mean | 0.00487 | +| rollout_info/dynamics_penalty_std | 0.0693 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249337, reward mean: 3.3378 +num rollout transitions: 249302, reward mean: 3.3462 +num rollout transitions: 249313, reward mean: 3.3341 +num rollout transitions: 249338, reward mean: 3.3348 +num rollout transitions: 249329, reward mean: 3.3469 +num rollout transitions: 249322, reward mean: 3.3334 +num rollout transitions: 249319, reward mean: 3.3491 +num rollout transitions: 249284, reward mean: 3.3529 +num rollout transitions: 249419, reward mean: 3.3397 +num rollout transitions: 249279, 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reward mean: 3.3170 +num rollout transitions: 249288, reward mean: 3.3294 +num rollout transitions: 249264, reward mean: 3.3278 +num rollout transitions: 249323, reward mean: 3.3573 +---------------------------------------------------------------------------------- +| alpha | 0.0226 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.717 | +| loss/actor | -307 | +| loss/alpha | -0.00431 | +| loss/critic | 3.52 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.478 | +| rollout_info/dynamics_penalty_mean | 0.00484 | +| rollout_info/dynamics_penalty_std | 0.0692 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249309, reward mean: 3.3280 +num rollout transitions: 249322, reward mean: 3.3439 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0231 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.732 | +| loss/actor | -306 | +| loss/alpha | -0.00437 | +| loss/critic | 3.99 | +| penalty/lcb_mean | 0.224 | +| penalty/lcb_std | 0.476 | +| rollout_info/dynamics_penalty_mean | 0.00458 | +| rollout_info/dynamics_penalty_std | 0.0673 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249252, reward mean: 3.3391 +num rollout transitions: 249296, reward mean: 3.3489 +num rollout transitions: 249282, reward mean: 3.3332 +num rollout transitions: 249203, reward mean: 3.3238 +num rollout transitions: 249317, reward mean: 3.3354 +num rollout transitions: 249362, reward mean: 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| 112 | +| eval/normalized_episode_reward_std | 0.715 | +| loss/actor | -306 | +| loss/alpha | 0.0142 | +| loss/critic | 4.07 | +| penalty/lcb_mean | 0.228 | +| penalty/lcb_std | 0.495 | +| rollout_info/dynamics_penalty_mean | 0.0046 | +| rollout_info/dynamics_penalty_std | 0.0675 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249330, reward mean: 3.3467 +num rollout transitions: 249305, reward mean: 3.3566 +num rollout transitions: 249355, reward mean: 3.3664 +num rollout transitions: 249428, reward mean: 3.3522 +num rollout transitions: 249221, reward mean: 3.3163 +num rollout transitions: 249424, reward mean: 3.3168 +num rollout transitions: 249358, reward mean: 3.3379 +num rollout transitions: 249290, reward mean: 3.3400 +num rollout transitions: 249328, reward mean: 3.3442 +num rollout transitions: 249284, reward 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mean: 3.3513 +num rollout transitions: 249350, reward mean: 3.3241 +num rollout transitions: 249352, reward mean: 3.3351 +num rollout transitions: 249407, reward mean: 3.3410 +---------------------------------------------------------------------------------- +| alpha | 0.0227 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.737 | +| loss/actor | -306 | +| loss/alpha | -0.00643 | +| loss/critic | 3.44 | +| penalty/lcb_mean | 0.232 | +| penalty/lcb_std | 0.498 | +| rollout_info/dynamics_penalty_mean | 0.00476 | +| rollout_info/dynamics_penalty_std | 0.0687 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249343, reward mean: 3.3216 +num rollout transitions: 249318, reward mean: 3.3436 +num rollout transitions: 249354, 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| +| rollout_info/dynamics_penalty_std | 0.067 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249386, reward mean: 3.3429 +num rollout transitions: 249341, reward mean: 3.3507 +num rollout transitions: 249294, reward mean: 3.3394 +num rollout transitions: 249354, reward mean: 3.3461 +num rollout transitions: 249344, reward mean: 3.3285 +num rollout transitions: 249337, reward mean: 3.3346 +num rollout transitions: 249392, reward mean: 3.3562 +num rollout transitions: 249363, reward mean: 3.3424 +num rollout transitions: 249293, reward mean: 3.3397 +num rollout transitions: 249278, reward mean: 3.3188 +num rollout transitions: 249287, reward mean: 3.3457 +num rollout transitions: 249303, reward mean: 3.3490 +num rollout transitions: 249334, reward mean: 3.3497 +num rollout transitions: 249339, reward mean: 3.3383 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.0226 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.757 | +| loss/actor | -306 | +| loss/alpha | 0.0134 | +| loss/critic | 3.97 | +| penalty/lcb_mean | 0.229 | +| penalty/lcb_std | 0.489 | +| rollout_info/dynamics_penalty_mean | 0.00463 | +| rollout_info/dynamics_penalty_std | 0.0677 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249357, reward mean: 3.3352 +num rollout transitions: 249330, reward mean: 3.3630 +num rollout transitions: 249358, reward mean: 3.3553 +num rollout transitions: 249303, reward mean: 3.3622 +num rollout transitions: 249297, reward mean: 3.3512 +num rollout transitions: 249313, reward mean: 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| 112 | +| eval/normalized_episode_reward_std | 0.723 | +| loss/actor | -306 | +| loss/alpha | 0.00257 | +| loss/critic | 3.67 | +| penalty/lcb_mean | 0.23 | +| penalty/lcb_std | 0.489 | +| rollout_info/dynamics_penalty_mean | 0.00473 | +| rollout_info/dynamics_penalty_std | 0.0684 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249300, reward mean: 3.3448 +num rollout transitions: 249309, reward mean: 3.3391 +num rollout transitions: 249351, reward mean: 3.3542 +num rollout transitions: 249278, reward mean: 3.3370 +num rollout transitions: 249359, reward mean: 3.3559 +num rollout transitions: 249448, reward mean: 3.3374 +num rollout transitions: 249336, reward mean: 3.3453 +num rollout transitions: 249354, reward mean: 3.3433 +num rollout transitions: 249327, reward mean: 3.3462 +num rollout transitions: 249354, 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reward mean: 3.3270 +num rollout transitions: 249265, reward mean: 3.3256 +num rollout transitions: 249342, reward mean: 3.3384 +num rollout transitions: 249323, reward mean: 3.3411 +---------------------------------------------------------------------------------- +| alpha | 0.0223 | +| eval/episode_length | 362 | +| eval/episode_length_std | 319 | +| eval/normalized_episode_reward | 38 | +| eval/normalized_episode_reward_std | 37.9 | +| loss/actor | -307 | +| loss/alpha | 0.00147 | +| loss/critic | 3.32 | +| penalty/lcb_mean | 0.228 | +| penalty/lcb_std | 0.476 | +| rollout_info/dynamics_penalty_mean | 0.00487 | +| rollout_info/dynamics_penalty_std | 0.0694 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249369, reward mean: 3.3361 +num rollout transitions: 249347, reward mean: 3.3437 +num rollout transitions: 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0.00504 | +| rollout_info/dynamics_penalty_std | 0.0706 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249294, reward mean: 3.3304 +num rollout transitions: 249309, reward mean: 3.3293 +num rollout transitions: 249284, reward mean: 3.3140 +num rollout transitions: 249343, reward mean: 3.3183 +num rollout transitions: 249321, reward mean: 3.3284 +num rollout transitions: 249303, reward mean: 3.3457 +num rollout transitions: 249288, reward mean: 3.3504 +num rollout transitions: 249393, reward mean: 3.3267 +num rollout transitions: 249338, reward mean: 3.3286 +num rollout transitions: 249401, reward mean: 3.3326 +num rollout transitions: 249409, reward mean: 3.3382 +num rollout transitions: 249360, reward mean: 3.3318 +num rollout transitions: 249349, reward mean: 3.3360 +num rollout transitions: 249353, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0225 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.709 | +| loss/actor | -306 | +| loss/alpha | 0.0057 | +| loss/critic | 3.42 | +| penalty/lcb_mean | 0.231 | +| penalty/lcb_std | 0.48 | +| rollout_info/dynamics_penalty_mean | 0.00476 | +| rollout_info/dynamics_penalty_std | 0.0686 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249287, reward mean: 3.3447 +num rollout transitions: 249326, reward mean: 3.3378 +num rollout transitions: 249351, reward mean: 3.3273 +num rollout transitions: 249323, reward mean: 3.3358 +num rollout transitions: 249436, reward mean: 3.3344 +num rollout transitions: 249348, reward mean: 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eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.722 | +| loss/actor | -307 | +| loss/alpha | -0.000559 | +| loss/critic | 3.11 | +| penalty/lcb_mean | 0.227 | +| penalty/lcb_std | 0.468 | +| rollout_info/dynamics_penalty_mean | 0.00472 | +| rollout_info/dynamics_penalty_std | 0.0684 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2450000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249340, reward mean: 3.3306 +num rollout transitions: 249258, reward mean: 3.3311 +num rollout transitions: 249316, reward mean: 3.3373 +num rollout transitions: 249393, reward mean: 3.3392 +num rollout transitions: 249348, reward mean: 3.3349 +num rollout transitions: 249332, reward mean: 3.3290 +num rollout transitions: 249286, reward mean: 3.3277 +num rollout transitions: 249407, reward mean: 3.3364 +num rollout transitions: 249279, reward mean: 3.3406 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.0225 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.713 | +| loss/actor | -306 | +| loss/alpha | -0.00329 | +| loss/critic | 3.3 | +| penalty/lcb_mean | 0.237 | +| penalty/lcb_std | 0.494 | +| rollout_info/dynamics_penalty_mean | 0.00473 | +| rollout_info/dynamics_penalty_std | 0.0684 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249329, reward mean: 3.3415 +num rollout transitions: 249305, reward mean: 3.3252 +num rollout transitions: 249336, reward mean: 3.3370 +num rollout transitions: 249319, reward mean: 3.3346 +num rollout transitions: 249343, reward mean: 3.3403 +num rollout transitions: 249381, reward mean: 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| 113 | +| eval/normalized_episode_reward_std | 0.731 | +| loss/actor | -305 | +| loss/alpha | -0.00444 | +| loss/critic | 3.54 | +| penalty/lcb_mean | 0.24 | +| penalty/lcb_std | 0.505 | +| rollout_info/dynamics_penalty_mean | 0.00436 | +| rollout_info/dynamics_penalty_std | 0.0657 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249342, reward mean: 3.3299 +num rollout transitions: 249377, reward mean: 3.3387 +num rollout transitions: 249299, reward mean: 3.3376 +num rollout transitions: 249311, reward mean: 3.3364 +num rollout transitions: 249363, reward mean: 3.3381 +num rollout transitions: 249237, reward mean: 3.3516 +num rollout transitions: 249304, reward mean: 3.3478 +num rollout transitions: 249317, reward mean: 3.3371 +num rollout transitions: 249386, reward mean: 3.3327 +num rollout transitions: 249372, 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reward mean: 3.3366 +num rollout transitions: 249315, reward mean: 3.3307 +num rollout transitions: 249302, reward mean: 3.3337 +num rollout transitions: 249220, reward mean: 3.3419 +---------------------------------------------------------------------------------- +| alpha | 0.0218 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.723 | +| loss/actor | -304 | +| loss/alpha | 0.00778 | +| loss/critic | 3.67 | +| penalty/lcb_mean | 0.24 | +| penalty/lcb_std | 0.507 | +| rollout_info/dynamics_penalty_mean | 0.00441 | +| rollout_info/dynamics_penalty_std | 0.0661 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249305, reward mean: 3.3354 +num rollout transitions: 249378, reward mean: 3.3404 +num rollout transitions: 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0.0043 | +| rollout_info/dynamics_penalty_std | 0.0653 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249330, reward mean: 3.3317 +num rollout transitions: 249387, reward mean: 3.3376 +num rollout transitions: 249318, reward mean: 3.3352 +num rollout transitions: 249295, reward mean: 3.3292 +num rollout transitions: 249350, reward mean: 3.3310 +num rollout transitions: 249387, reward mean: 3.3322 +num rollout transitions: 249354, reward mean: 3.3291 +num rollout transitions: 249268, reward mean: 3.3322 +num rollout transitions: 249348, reward mean: 3.3302 +num rollout transitions: 249295, reward mean: 3.3379 +num rollout transitions: 249306, reward mean: 3.3298 +num rollout transitions: 249365, reward mean: 3.3256 +num rollout transitions: 249416, reward mean: 3.3219 +num rollout transitions: 249252, reward mean: 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a/hopper_medium_expert_sparse/mobile_based/realnvp/seed_123×tamp_26-0318-103140/record/dynamics_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/realnvp/seed_123×tamp_26-0318-103140/record/dynamics_training_progress.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mobile_based/realnvp/seed_123×tamp_26-0318-103140/record/hyper_param.json b/hopper_medium_expert_sparse/mobile_based/realnvp/seed_123×tamp_26-0318-103140/record/hyper_param.json new file mode 100644 index 0000000000000000000000000000000000000000..60c4357eb9fafe6d04a63df6f0c345f79cb907c4 --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/realnvp/seed_123×tamp_26-0318-103140/record/hyper_param.json @@ -0,0 +1 @@ +{"config": "config_gormpo/hopper_medium_expert_7_realnvp.yaml", "algo_name": "mobile_gormpo", "task": "hopper-medium-expert-v2", "seed": 123, "device": "cuda:7", "dataset_path": 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eval/episode_length_std | 0.967 | +| eval/normalized_episode_reward | 3 | +| eval/normalized_episode_reward_std | 0.67 | +| loss/actor | -460 | +| loss/alpha | -0.0126 | +| loss/critic | 16.8 | +| penalty/lcb_mean | 0.385 | +| penalty/lcb_std | 0.831 | +| rollout_info/dynamics_penalty_mean | 0.0285 | +| rollout_info/dynamics_penalty_std | 0.165 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.48 | +| timestep | 100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249319, reward mean: 3.4475 +num rollout transitions: 249272, reward mean: 3.4451 +num rollout transitions: 249427, reward mean: 3.4458 +num rollout transitions: 249413, reward mean: 3.4276 +num rollout transitions: 249356, reward mean: 3.4425 +num rollout transitions: 249305, reward mean: 3.4234 +num rollout transitions: 249213, reward mean: 3.4323 +num rollout transitions: 249302, reward mean: 3.4477 +num rollout transitions: 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249300, reward mean: 3.4009 +num rollout transitions: 249250, reward mean: 3.3729 +num rollout transitions: 249362, reward mean: 3.3764 +num rollout transitions: 249331, reward mean: 3.3802 +num rollout transitions: 249318, reward mean: 3.4005 +num rollout transitions: 249370, reward mean: 3.3795 +num rollout transitions: 249303, reward mean: 3.4062 +num rollout transitions: 249309, reward mean: 3.3843 +num rollout transitions: 249333, reward mean: 3.3986 +num rollout transitions: 249362, reward mean: 3.3981 +num rollout transitions: 249282, reward mean: 3.3674 +num rollout transitions: 249345, reward mean: 3.3785 +---------------------------------------------------------------------------------- +| alpha | 0.0456 | +| eval/episode_length | 63.5 | +| eval/episode_length_std | 8.11 | +| eval/normalized_episode_reward | 4.53 | +| eval/normalized_episode_reward_std | 1.32 | +| loss/actor | -327 | +| loss/alpha | -0.0264 | +| loss/critic | 8.7 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.371 | +| rollout_info/dynamics_penalty_mean | 0.013 | +| rollout_info/dynamics_penalty_std | 0.112 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.39 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249286, reward mean: 3.3772 +num rollout transitions: 249357, reward mean: 3.3901 +num rollout transitions: 249363, reward mean: 3.3871 +num rollout transitions: 249369, reward mean: 3.3800 +num rollout transitions: 249310, reward mean: 3.3643 +num rollout transitions: 249291, reward mean: 3.3893 +num rollout transitions: 249298, reward mean: 3.3756 +num rollout transitions: 249320, reward mean: 3.3628 +num rollout transitions: 249309, reward mean: 3.3729 +num rollout transitions: 249360, reward mean: 3.3697 +num rollout transitions: 249248, reward mean: 3.3701 +num rollout transitions: 249308, reward mean: 3.3747 +num rollout transitions: 249251, reward 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mean: 3.3046 +---------------------------------------------------------------------------------- +| alpha | 0.0384 | +| eval/episode_length | 98.8 | +| eval/episode_length_std | 0.946 | +| eval/normalized_episode_reward | 7.52 | +| eval/normalized_episode_reward_std | 0.71 | +| loss/actor | -321 | +| loss/alpha | -0.012 | +| loss/critic | 6.58 | +| penalty/lcb_mean | 0.182 | +| penalty/lcb_std | 0.352 | +| rollout_info/dynamics_penalty_mean | 0.00738 | +| rollout_info/dynamics_penalty_std | 0.0851 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.35 | +| timestep | 250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249349, reward mean: 3.3811 +num rollout transitions: 249366, reward mean: 3.3681 +num rollout transitions: 249294, reward mean: 3.3611 +num rollout transitions: 249363, reward mean: 3.3763 +num rollout transitions: 249230, reward mean: 3.3616 +num rollout transitions: 249321, 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rollout transitions: 249355, reward mean: 3.3839 +num rollout transitions: 249299, reward mean: 3.3650 +num rollout transitions: 249277, reward mean: 3.3593 +num rollout transitions: 249334, reward mean: 3.3262 +num rollout transitions: 249289, reward mean: 3.3475 +num rollout transitions: 249287, reward mean: 3.3687 +num rollout transitions: 249353, reward mean: 3.3585 +num rollout transitions: 249435, reward mean: 3.3551 +num rollout transitions: 249340, reward mean: 3.3519 +num rollout transitions: 249249, reward mean: 3.3508 +num rollout transitions: 249284, reward mean: 3.3423 +num rollout transitions: 249331, reward mean: 3.3528 +num rollout transitions: 249348, reward mean: 3.3550 +num rollout transitions: 249345, reward mean: 3.3481 +num rollout transitions: 249282, reward mean: 3.3339 +num rollout transitions: 249320, reward mean: 3.3716 +num rollout transitions: 249355, reward mean: 3.3289 +num rollout transitions: 249367, reward mean: 3.3683 +num rollout transitions: 249266, 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+---------------------------------------------------------------------------------- +num rollout transitions: 249376, reward mean: 3.3429 +num rollout transitions: 249346, reward mean: 3.3284 +num rollout transitions: 249323, reward mean: 3.3449 +num rollout transitions: 249299, reward mean: 3.3425 +num rollout transitions: 249285, reward mean: 3.3428 +num rollout transitions: 249303, reward mean: 3.3328 +num rollout transitions: 249292, reward mean: 3.3254 +num rollout transitions: 249255, reward mean: 3.3467 +num rollout transitions: 249441, reward mean: 3.3736 +num rollout transitions: 249259, reward mean: 3.3524 +num rollout transitions: 249270, reward mean: 3.3626 +num rollout transitions: 249311, reward mean: 3.3336 +num rollout transitions: 249281, reward mean: 3.3636 +num rollout transitions: 249325, reward mean: 3.3273 +num rollout transitions: 249287, reward mean: 3.3383 +num rollout transitions: 249294, reward mean: 3.3467 +num rollout transitions: 249267, reward mean: 3.3274 +num rollout transitions: 249267, reward mean: 3.3568 +num rollout transitions: 249308, reward mean: 3.3179 +num rollout transitions: 249335, reward mean: 3.3253 +num rollout transitions: 249349, reward mean: 3.3399 +num rollout transitions: 249340, reward mean: 3.3392 +num rollout transitions: 249357, reward mean: 3.3384 +num rollout transitions: 249277, reward mean: 3.3188 +num rollout transitions: 249301, reward mean: 3.3359 +num rollout transitions: 249323, reward mean: 3.3485 +num rollout transitions: 249245, reward mean: 3.3373 +num rollout transitions: 249300, reward mean: 3.3318 +num rollout transitions: 249305, reward mean: 3.3095 +num rollout transitions: 249316, reward mean: 3.3426 +num rollout transitions: 249269, reward mean: 3.3219 +num rollout transitions: 249306, reward mean: 3.3370 +num rollout transitions: 249286, reward mean: 3.3506 +num rollout transitions: 249322, reward mean: 3.3528 +num rollout transitions: 249306, reward mean: 3.3341 +num rollout transitions: 249362, reward mean: 3.3499 +num rollout transitions: 249381, reward mean: 3.3242 +num rollout transitions: 249356, reward mean: 3.3468 +num rollout transitions: 249374, reward mean: 3.3246 +num rollout transitions: 249272, reward mean: 3.3393 +num rollout transitions: 249317, reward mean: 3.3450 +num rollout transitions: 249295, reward mean: 3.3151 +num rollout transitions: 249400, reward mean: 3.3355 +num rollout transitions: 249292, reward mean: 3.3454 +num rollout transitions: 249394, reward mean: 3.3337 +num rollout transitions: 249351, reward mean: 3.3655 +num rollout transitions: 249318, reward mean: 3.3561 +num rollout transitions: 249402, reward mean: 3.3333 +num rollout transitions: 249296, reward mean: 3.3540 +num rollout transitions: 249383, reward mean: 3.3289 +---------------------------------------------------------------------------------- +| alpha | 0.0311 | +| eval/episode_length | 399 | +| eval/episode_length_std | 28.1 | +| eval/normalized_episode_reward | 42.3 | +| eval/normalized_episode_reward_std | 4.15 | +| loss/actor | -317 | +| loss/alpha | -0.00841 | +| loss/critic | 5.28 | +| penalty/lcb_mean | 0.172 | +| penalty/lcb_std | 0.341 | +| rollout_info/dynamics_penalty_mean | 0.00597 | +| rollout_info/dynamics_penalty_std | 0.0763 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249294, reward mean: 3.3342 +num rollout transitions: 249351, reward mean: 3.3289 +num rollout transitions: 249335, reward mean: 3.3399 +num rollout transitions: 249261, reward mean: 3.3290 +num rollout transitions: 249326, reward mean: 3.3539 +num rollout transitions: 249281, reward mean: 3.3606 +num rollout transitions: 249380, reward mean: 3.3293 +num rollout transitions: 249313, reward mean: 3.3661 +num rollout transitions: 249359, reward mean: 3.3503 +num rollout transitions: 249401, reward mean: 3.3422 +num rollout transitions: 249299, reward mean: 3.3418 +num rollout transitions: 249407, reward mean: 3.3269 +num rollout transitions: 249333, reward mean: 3.3303 +num rollout transitions: 249428, reward mean: 3.3519 +num rollout transitions: 249313, reward mean: 3.3205 +num rollout transitions: 249346, reward mean: 3.3516 +num rollout transitions: 249392, reward mean: 3.3340 +num rollout transitions: 249362, reward mean: 3.3589 +num rollout transitions: 249337, reward mean: 3.3239 +num rollout transitions: 249338, reward mean: 3.3381 +num rollout transitions: 249250, reward mean: 3.3378 +num rollout transitions: 249405, reward mean: 3.2994 +num rollout transitions: 249291, reward mean: 3.3395 +num rollout transitions: 249276, reward mean: 3.3160 +num rollout transitions: 249354, reward mean: 3.2804 +num rollout transitions: 249316, reward mean: 3.3182 +num rollout transitions: 249329, reward mean: 3.3262 +num rollout transitions: 249387, reward mean: 3.3193 +num rollout transitions: 249405, reward mean: 3.3206 +num rollout transitions: 249357, reward mean: 3.3337 +num rollout transitions: 249248, reward mean: 3.3413 +num rollout transitions: 249353, reward mean: 3.3103 +num rollout transitions: 249331, reward mean: 3.3705 +num rollout transitions: 249272, reward mean: 3.3617 +num rollout transitions: 249316, reward mean: 3.3412 +num rollout transitions: 249233, reward mean: 3.3446 +num rollout transitions: 249366, reward mean: 3.3405 +num rollout transitions: 249377, reward mean: 3.3310 +num rollout transitions: 249194, reward mean: 3.3251 +num rollout transitions: 249318, reward mean: 3.3428 +num rollout transitions: 249280, reward mean: 3.3676 +num rollout transitions: 249326, reward mean: 3.3665 +num rollout transitions: 249382, reward mean: 3.3561 +num rollout transitions: 249364, reward mean: 3.3511 +num rollout transitions: 249357, reward mean: 3.3584 +num rollout transitions: 249375, reward mean: 3.3525 +num rollout transitions: 249338, reward mean: 3.3470 +num rollout transitions: 249312, reward mean: 3.3305 +num rollout transitions: 249370, reward mean: 3.3431 +num rollout transitions: 249320, reward mean: 3.3424 +---------------------------------------------------------------------------------- +| alpha | 0.029 | +| eval/episode_length | 36.5 | +| eval/episode_length_std | 1.06 | +| eval/normalized_episode_reward | 2.34 | +| eval/normalized_episode_reward_std | 0.688 | +| loss/actor | -317 | +| loss/alpha | 0.021 | +| loss/critic | 6.56 | +| penalty/lcb_mean | 0.174 | +| penalty/lcb_std | 0.362 | +| rollout_info/dynamics_penalty_mean | 0.0065 | +| rollout_info/dynamics_penalty_std | 0.0798 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249443, reward mean: 3.3159 +num rollout transitions: 249312, reward mean: 3.3266 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249379, reward mean: 3.2970 +num rollout transitions: 249292, reward mean: 3.2941 +num rollout transitions: 249384, reward mean: 3.3515 +num rollout transitions: 249317, reward mean: 3.3268 +num rollout transitions: 249283, reward mean: 3.3098 +num rollout transitions: 249389, reward mean: 3.3351 +num rollout transitions: 249344, reward mean: 3.3561 +num rollout transitions: 249391, reward mean: 3.3312 +num rollout transitions: 249296, reward mean: 3.3223 +num rollout transitions: 249345, reward mean: 3.3309 +num rollout transitions: 249356, reward mean: 3.3340 +num rollout transitions: 249325, reward mean: 3.3395 +num rollout transitions: 249358, reward mean: 3.3224 +num rollout transitions: 249293, reward mean: 3.2885 +num rollout transitions: 249372, reward mean: 3.3601 +num rollout transitions: 249342, reward mean: 3.3502 +num rollout transitions: 249394, reward mean: 3.3335 +num rollout transitions: 249373, reward mean: 3.3296 +num rollout transitions: 249290, reward mean: 3.3531 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rollout_info/dynamics_penalty_mean | 0.00565 | +| rollout_info/dynamics_penalty_std | 0.0747 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249257, reward mean: 3.3342 +num rollout transitions: 249364, reward mean: 3.3749 +num rollout transitions: 249309, reward mean: 3.3305 +num rollout transitions: 249263, reward mean: 3.3170 +num rollout transitions: 249331, reward mean: 3.3548 +num rollout transitions: 249288, reward mean: 3.3466 +num rollout transitions: 249338, reward mean: 3.3458 +num rollout transitions: 249372, reward mean: 3.3363 +num rollout transitions: 249301, reward mean: 3.3286 +num rollout transitions: 249335, reward mean: 3.3579 +num rollout transitions: 249355, reward mean: 3.2972 +num rollout transitions: 249341, reward mean: 3.3202 +num rollout transitions: 249303, reward mean: 3.3056 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.028 | +| eval/episode_length | 65.2 | +| eval/episode_length_std | 90.4 | +| eval/normalized_episode_reward | 5.39 | +| eval/normalized_episode_reward_std | 10.7 | +| loss/actor | -314 | +| loss/alpha | 0.0143 | +| loss/critic | 5.19 | +| penalty/lcb_mean | 0.176 | +| penalty/lcb_std | 0.361 | +| rollout_info/dynamics_penalty_mean | 0.00599 | +| rollout_info/dynamics_penalty_std | 0.0768 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249291, reward mean: 3.3224 +num rollout transitions: 249347, reward mean: 3.3125 +num rollout transitions: 249281, reward mean: 3.3185 +num rollout transitions: 249325, reward mean: 3.3183 +num rollout transitions: 249398, reward mean: 3.3272 +num rollout transitions: 249288, reward mean: 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eval/normalized_episode_reward | 17.6 | +| eval/normalized_episode_reward_std | 1.26 | +| loss/actor | -313 | +| loss/alpha | 0.00741 | +| loss/critic | 4.39 | +| penalty/lcb_mean | 0.178 | +| penalty/lcb_std | 0.368 | +| rollout_info/dynamics_penalty_mean | 0.00574 | +| rollout_info/dynamics_penalty_std | 0.0752 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249321, reward mean: 3.3052 +num rollout transitions: 249350, reward mean: 3.3092 +num rollout transitions: 249370, reward mean: 3.3195 +num rollout transitions: 249320, reward mean: 3.3339 +num rollout transitions: 249314, reward mean: 3.3351 +num rollout transitions: 249305, reward mean: 3.3212 +num rollout transitions: 249411, reward mean: 3.3017 +num rollout transitions: 249324, reward mean: 3.3145 +num rollout transitions: 249195, reward mean: 3.3344 +num 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rollout_info/dynamics_penalty_mean | 0.00635 | +| rollout_info/dynamics_penalty_std | 0.0788 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249376, reward mean: 3.3427 +num rollout transitions: 249315, reward mean: 3.3326 +num rollout transitions: 249315, reward mean: 3.3146 +num rollout transitions: 249318, reward mean: 3.3162 +num rollout transitions: 249326, reward mean: 3.3384 +num rollout transitions: 249316, reward mean: 3.3490 +num rollout transitions: 249380, reward mean: 3.3676 +num rollout transitions: 249383, reward mean: 3.4001 +num rollout transitions: 249329, reward mean: 3.3637 +num rollout transitions: 249317, reward mean: 3.3344 +num rollout transitions: 249317, reward mean: 3.3374 +num rollout transitions: 249280, reward mean: 3.3376 +num rollout transitions: 249298, reward mean: 3.3322 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0295 | +| eval/episode_length | 322 | +| eval/episode_length_std | 38.4 | +| eval/normalized_episode_reward | 36 | +| eval/normalized_episode_reward_std | 5.68 | +| loss/actor | -309 | +| loss/alpha | 0.0133 | +| loss/critic | 5.4 | +| penalty/lcb_mean | 0.199 | +| penalty/lcb_std | 0.388 | +| rollout_info/dynamics_penalty_mean | 0.00578 | +| rollout_info/dynamics_penalty_std | 0.0754 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249299, reward mean: 3.3554 +num rollout transitions: 249410, reward mean: 3.3382 +num rollout transitions: 249354, reward mean: 3.3637 +num rollout transitions: 249377, reward mean: 3.3252 +num rollout transitions: 249286, reward mean: 3.3311 +num rollout transitions: 249299, reward mean: 3.3265 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transitions: 249381, reward mean: 3.3567 +num rollout transitions: 249350, reward mean: 3.3272 +num rollout transitions: 249339, reward mean: 3.3331 +num rollout transitions: 249291, reward mean: 3.3289 +num rollout transitions: 249338, reward mean: 3.3308 +num rollout transitions: 249320, reward mean: 3.3126 +num rollout transitions: 249326, reward mean: 3.3337 +num rollout transitions: 249383, reward mean: 3.3183 +num rollout transitions: 249352, reward mean: 3.3085 +num rollout transitions: 249353, reward mean: 3.3288 +num rollout transitions: 249320, reward mean: 3.3063 +num rollout transitions: 249329, reward mean: 3.3202 +num rollout transitions: 249434, reward mean: 3.3434 +num rollout transitions: 249326, reward mean: 3.3484 +num rollout transitions: 249329, reward mean: 3.3294 +---------------------------------------------------------------------------------- +| alpha | 0.0276 | +| eval/episode_length | 124 | +| eval/episode_length_std | 0.727 | +| eval/normalized_episode_reward | 10.1 | +| eval/normalized_episode_reward_std | 0.679 | +| loss/actor | -309 | +| loss/alpha | -0.00673 | +| loss/critic | 4.87 | +| penalty/lcb_mean | 0.201 | +| penalty/lcb_std | 0.4 | +| rollout_info/dynamics_penalty_mean | 0.00543 | +| rollout_info/dynamics_penalty_std | 0.0732 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249344, reward mean: 3.3265 +num rollout transitions: 249370, reward mean: 3.3401 +num rollout transitions: 249410, reward mean: 3.3430 +num rollout transitions: 249341, reward mean: 3.3396 +num rollout transitions: 249268, reward mean: 3.3314 +num rollout transitions: 249402, reward mean: 3.3256 +num rollout transitions: 249351, reward mean: 3.3365 +num rollout transitions: 249260, reward mean: 3.3445 +num rollout transitions: 249376, reward mean: 3.3214 +num 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rollout transitions: 249387, reward mean: 3.3585 +num rollout transitions: 249388, reward mean: 3.3407 +num rollout transitions: 249267, reward mean: 3.3405 +num rollout transitions: 249342, reward mean: 3.3514 +---------------------------------------------------------------------------------- +| alpha | 0.0277 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 110 | +| eval/normalized_episode_reward_std | 0.942 | +| loss/actor | -309 | +| loss/alpha | 0.0147 | +| loss/critic | 4.26 | +| penalty/lcb_mean | 0.21 | +| penalty/lcb_std | 0.411 | +| rollout_info/dynamics_penalty_mean | 0.00539 | +| rollout_info/dynamics_penalty_std | 0.0729 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249267, reward mean: 3.3487 +num rollout transitions: 249372, reward mean: 3.3531 +num rollout transitions: 249331, reward mean: 3.3620 +num rollout transitions: 249401, reward mean: 3.3363 +num rollout transitions: 249258, reward mean: 3.3452 +num rollout transitions: 249370, reward mean: 3.3247 +num rollout transitions: 249343, reward mean: 3.3318 +num rollout transitions: 249333, reward mean: 3.3578 +num rollout transitions: 249370, reward mean: 3.3391 +num rollout transitions: 249412, reward mean: 3.3355 +num rollout transitions: 249394, reward mean: 3.3550 +num rollout transitions: 249240, reward mean: 3.3311 +num rollout transitions: 249345, reward mean: 3.3504 +num rollout transitions: 249317, reward mean: 3.3438 +num rollout transitions: 249305, reward mean: 3.3431 +num rollout transitions: 249326, reward mean: 3.3279 +num rollout transitions: 249305, reward mean: 3.3361 +num rollout transitions: 249326, reward mean: 3.3441 +num rollout transitions: 249364, reward mean: 3.3507 +num rollout transitions: 249355, reward mean: 3.3607 +num rollout transitions: 249354, reward mean: 3.3503 +num rollout transitions: 249343, reward mean: 3.3546 +num rollout transitions: 249379, reward mean: 3.3391 +num rollout transitions: 249362, reward mean: 3.3160 +num rollout transitions: 249350, reward mean: 3.3470 +num rollout transitions: 249406, reward mean: 3.3596 +num rollout transitions: 249385, reward mean: 3.3590 +num rollout transitions: 249402, reward mean: 3.3407 +num rollout transitions: 249303, reward mean: 3.3475 +num rollout transitions: 249353, reward mean: 3.3403 +num rollout transitions: 249246, reward mean: 3.3448 +num rollout transitions: 249211, reward mean: 3.3354 +num rollout transitions: 249277, reward mean: 3.3319 +num rollout transitions: 249343, reward mean: 3.3410 +num rollout transitions: 249357, reward mean: 3.3713 +num rollout transitions: 249315, reward mean: 3.3348 +num rollout transitions: 249295, reward mean: 3.3340 +num rollout transitions: 249315, reward mean: 3.3270 +num rollout transitions: 249301, reward mean: 3.3457 +num rollout transitions: 249367, reward mean: 3.3345 +num rollout transitions: 249303, reward mean: 3.3468 +num rollout transitions: 249316, reward mean: 3.3368 +num rollout transitions: 249289, reward mean: 3.3486 +num rollout transitions: 249351, reward mean: 3.3338 +num rollout transitions: 249308, reward mean: 3.3695 +num rollout transitions: 249280, reward mean: 3.3320 +num rollout transitions: 249320, reward mean: 3.3457 +num rollout transitions: 249299, reward mean: 3.3586 +num rollout transitions: 249346, reward mean: 3.3124 +num rollout transitions: 249302, reward mean: 3.3441 +---------------------------------------------------------------------------------- +| alpha | 0.0283 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 110 | +| eval/normalized_episode_reward_std | 0.883 | +| loss/actor | -308 | +| loss/alpha | 0.0023 | +| loss/critic | 4.25 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.405 | +| rollout_info/dynamics_penalty_mean | 0.00503 | +| rollout_info/dynamics_penalty_std | 0.0704 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249344, reward mean: 3.3612 +num rollout transitions: 249362, reward mean: 3.3522 +num rollout transitions: 249322, reward mean: 3.3622 +num rollout transitions: 249332, reward mean: 3.3454 +num rollout transitions: 249327, reward mean: 3.3349 +num rollout transitions: 249330, reward mean: 3.3489 +num rollout transitions: 249364, reward mean: 3.3500 +num rollout transitions: 249306, reward mean: 3.3274 +num rollout transitions: 249238, reward mean: 3.3460 +num rollout transitions: 249362, reward mean: 3.3399 +num rollout transitions: 249317, reward mean: 3.3498 +num rollout transitions: 249335, reward mean: 3.3438 +num rollout transitions: 249329, reward mean: 3.3478 +num rollout transitions: 249223, reward mean: 3.3432 +num rollout transitions: 249297, reward mean: 3.3323 +num rollout transitions: 249331, reward mean: 3.3374 +num rollout transitions: 249362, reward mean: 3.3225 +num rollout transitions: 249275, reward mean: 3.3273 +num rollout transitions: 249348, reward mean: 3.3482 +num rollout transitions: 249283, reward mean: 3.3375 +num rollout transitions: 249229, reward mean: 3.3497 +num rollout transitions: 249330, reward mean: 3.3403 +num rollout transitions: 249317, reward mean: 3.3646 +num rollout transitions: 249239, reward mean: 3.3245 +num rollout transitions: 249347, reward mean: 3.3455 +num rollout transitions: 249242, reward mean: 3.3252 +num rollout transitions: 249359, reward mean: 3.3354 +num rollout transitions: 249305, reward mean: 3.3344 +num rollout transitions: 249399, reward mean: 3.3438 +num rollout transitions: 249345, reward mean: 3.3399 +num rollout transitions: 249316, reward mean: 3.3460 +num rollout transitions: 249344, reward mean: 3.3089 +num rollout transitions: 249292, reward mean: 3.3428 +num rollout transitions: 249327, reward mean: 3.3528 +num rollout transitions: 249326, reward mean: 3.3454 +num rollout transitions: 249290, reward mean: 3.3469 +num rollout transitions: 249322, reward mean: 3.3368 +num rollout transitions: 249316, reward mean: 3.3244 +num rollout transitions: 249308, reward mean: 3.3474 +num rollout transitions: 249241, reward mean: 3.3334 +num rollout transitions: 249274, reward mean: 3.3232 +num rollout transitions: 249334, reward mean: 3.3313 +num rollout transitions: 249264, reward mean: 3.3381 +num rollout transitions: 249332, reward mean: 3.3305 +num rollout transitions: 249321, reward mean: 3.3399 +num rollout transitions: 249423, reward mean: 3.3440 +num rollout transitions: 249333, reward mean: 3.3383 +num rollout transitions: 249375, reward mean: 3.3393 +num rollout transitions: 249332, reward mean: 3.3470 +num rollout transitions: 249354, reward mean: 3.3668 +---------------------------------------------------------------------------------- +| alpha | 0.0289 | +| eval/episode_length | 130 | +| eval/episode_length_std | 1.08 | +| eval/normalized_episode_reward | 11.1 | +| eval/normalized_episode_reward_std | 0.756 | +| loss/actor | -307 | +| loss/alpha | -0.00735 | +| loss/critic | 4.57 | +| penalty/lcb_mean | 0.215 | +| penalty/lcb_std | 0.432 | +| rollout_info/dynamics_penalty_mean | 0.00518 | +| rollout_info/dynamics_penalty_std | 0.0715 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249293, reward mean: 3.3242 +num rollout transitions: 249304, reward mean: 3.3361 +num rollout transitions: 249290, reward mean: 3.3428 +num rollout transitions: 249329, reward mean: 3.3487 +num rollout transitions: 249328, reward mean: 3.3564 +num rollout transitions: 249337, reward mean: 3.3483 +num rollout transitions: 249390, reward mean: 3.3387 +num rollout transitions: 249312, reward mean: 3.3415 +num rollout transitions: 249272, reward mean: 3.3444 +num rollout transitions: 249257, reward mean: 3.3268 +num rollout transitions: 249416, reward mean: 3.3352 +num rollout transitions: 249297, reward mean: 3.3364 +num rollout transitions: 249279, reward mean: 3.3275 +num rollout transitions: 249318, reward mean: 3.3486 +num rollout transitions: 249327, reward mean: 3.3414 +num rollout transitions: 249429, reward mean: 3.3295 +num rollout transitions: 249383, reward mean: 3.3220 +num rollout transitions: 249322, reward mean: 3.3159 +num rollout transitions: 249372, reward mean: 3.3319 +num rollout transitions: 249314, reward mean: 3.3177 +num rollout transitions: 249318, reward mean: 3.3466 +num rollout transitions: 249256, reward mean: 3.3099 +num rollout transitions: 249302, reward mean: 3.3484 +num rollout transitions: 249335, reward mean: 3.3362 +num rollout transitions: 249260, reward mean: 3.3482 +num rollout transitions: 249246, reward mean: 3.3558 +num rollout transitions: 249358, reward mean: 3.3692 +num rollout transitions: 249306, reward mean: 3.3354 +num rollout transitions: 249362, reward mean: 3.3273 +num rollout transitions: 249286, reward mean: 3.3451 +num rollout transitions: 249390, reward mean: 3.3521 +num rollout transitions: 249327, reward mean: 3.3504 +num rollout transitions: 249313, reward mean: 3.3122 +num rollout transitions: 249291, reward mean: 3.3508 +num rollout transitions: 249364, reward mean: 3.3246 +num rollout transitions: 249378, reward mean: 3.3542 +num rollout transitions: 249349, reward mean: 3.3517 +num rollout transitions: 249365, reward mean: 3.3453 +num rollout transitions: 249314, reward mean: 3.3436 +num rollout transitions: 249294, reward mean: 3.3454 +num rollout transitions: 249256, reward mean: 3.3355 +num rollout transitions: 249280, reward mean: 3.3453 +num rollout transitions: 249308, reward mean: 3.3508 +num rollout transitions: 249276, reward mean: 3.3391 +num rollout transitions: 249355, reward mean: 3.3111 +num rollout transitions: 249318, reward mean: 3.3335 +num rollout transitions: 249277, reward mean: 3.3263 +num rollout transitions: 249321, reward mean: 3.3414 +num rollout transitions: 249343, reward mean: 3.3476 +num rollout transitions: 249334, reward mean: 3.3304 +---------------------------------------------------------------------------------- +| alpha | 0.0286 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.817 | +| loss/actor | -308 | +| loss/alpha | 0.0202 | +| loss/critic | 5.61 | +| penalty/lcb_mean | 0.209 | +| penalty/lcb_std | 0.419 | +| rollout_info/dynamics_penalty_mean | 0.00508 | +| rollout_info/dynamics_penalty_std | 0.0707 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249320, reward mean: 3.3728 +num rollout transitions: 249267, reward mean: 3.3670 +num rollout transitions: 249373, reward mean: 3.3295 +num rollout transitions: 249301, reward mean: 3.3404 +num rollout transitions: 249311, reward mean: 3.3405 +num rollout transitions: 249277, reward mean: 3.3459 +num rollout transitions: 249318, reward mean: 3.3420 +num rollout transitions: 249345, reward mean: 3.3350 +num rollout transitions: 249292, reward mean: 3.3427 +num rollout transitions: 249453, reward mean: 3.3265 +num rollout transitions: 249264, reward mean: 3.3350 +num rollout transitions: 249221, reward mean: 3.3348 +num rollout transitions: 249268, reward mean: 3.3488 +num rollout transitions: 249318, reward mean: 3.3421 +num rollout transitions: 249418, reward mean: 3.3553 +num rollout transitions: 249310, reward mean: 3.3442 +num rollout transitions: 249386, reward mean: 3.3389 +num rollout transitions: 249414, reward mean: 3.3488 +num rollout transitions: 249278, reward mean: 3.3409 +num rollout transitions: 249339, reward mean: 3.3569 +num rollout transitions: 249382, reward mean: 3.3376 +num rollout transitions: 249333, reward mean: 3.3423 +num rollout transitions: 249347, reward mean: 3.3409 +num rollout transitions: 249322, reward mean: 3.3513 +num rollout transitions: 249334, reward mean: 3.3279 +num rollout transitions: 249263, reward mean: 3.3439 +num rollout transitions: 249340, reward mean: 3.3399 +num rollout transitions: 249405, reward mean: 3.3628 +num rollout transitions: 249321, reward mean: 3.3496 +num rollout transitions: 249364, reward mean: 3.3422 +num rollout transitions: 249370, reward mean: 3.3305 +num rollout transitions: 249283, reward mean: 3.3329 +num rollout transitions: 249385, reward mean: 3.3506 +num rollout transitions: 249257, reward mean: 3.3511 +num rollout transitions: 249278, reward mean: 3.3511 +num rollout transitions: 249375, reward mean: 3.3285 +num rollout transitions: 249295, reward mean: 3.3533 +num rollout transitions: 249346, reward mean: 3.3358 +num rollout transitions: 249335, reward mean: 3.3315 +num rollout transitions: 249270, reward mean: 3.3257 +num rollout transitions: 249312, reward mean: 3.3368 +num rollout transitions: 249343, reward mean: 3.3369 +num rollout transitions: 249301, reward mean: 3.3435 +num rollout transitions: 249309, reward mean: 3.3621 +num rollout transitions: 249368, reward mean: 3.3326 +num rollout transitions: 249322, reward mean: 3.3588 +num rollout transitions: 249281, reward mean: 3.3455 +num rollout transitions: 249341, reward mean: 3.3394 +num rollout transitions: 249314, reward mean: 3.3284 +num rollout transitions: 249303, reward mean: 3.3588 +---------------------------------------------------------------------------------- +| alpha | 0.0278 | +| eval/episode_length | 309 | +| eval/episode_length_std | 184 | +| eval/normalized_episode_reward | 32.1 | +| eval/normalized_episode_reward_std | 22.1 | +| loss/actor | -308 | +| loss/alpha | -0.0226 | +| loss/critic | 3.85 | +| penalty/lcb_mean | 0.216 | +| penalty/lcb_std | 0.434 | +| rollout_info/dynamics_penalty_mean | 0.00551 | +| rollout_info/dynamics_penalty_std | 0.0737 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249390, reward mean: 3.3275 +num rollout transitions: 249382, reward mean: 3.3404 +num rollout transitions: 249320, reward mean: 3.3358 +num rollout transitions: 249323, reward mean: 3.3505 +num rollout transitions: 249423, reward mean: 3.3324 +num rollout transitions: 249315, reward mean: 3.3603 +num rollout transitions: 249326, reward mean: 3.3313 +num rollout transitions: 249293, reward mean: 3.3289 +num rollout transitions: 249302, reward mean: 3.3423 +num rollout transitions: 249301, reward mean: 3.3489 +num rollout transitions: 249302, reward mean: 3.3536 +num rollout transitions: 249316, reward mean: 3.3322 +num rollout transitions: 249333, reward mean: 3.3417 +num rollout transitions: 249359, reward mean: 3.3598 +num rollout transitions: 249341, reward mean: 3.3465 +num rollout transitions: 249252, reward mean: 3.3483 +num rollout transitions: 249297, reward mean: 3.3392 +num rollout transitions: 249285, reward mean: 3.3369 +num rollout transitions: 249360, reward mean: 3.3449 +num rollout transitions: 249359, reward mean: 3.3415 +num rollout transitions: 249343, reward mean: 3.3499 +num rollout transitions: 249322, reward mean: 3.3571 +num rollout transitions: 249276, reward mean: 3.3489 +num rollout transitions: 249279, reward mean: 3.3365 +num rollout transitions: 249326, reward mean: 3.3450 +num rollout transitions: 249303, reward mean: 3.3535 +num rollout transitions: 249385, reward mean: 3.3570 +num rollout transitions: 249434, reward mean: 3.3334 +num 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reward mean: 3.3459 +num rollout transitions: 249485, reward mean: 3.3445 +num rollout transitions: 249380, reward mean: 3.3604 +num rollout transitions: 249358, reward mean: 3.3522 +---------------------------------------------------------------------------------- +| alpha | 0.0273 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.802 | +| loss/actor | -308 | +| loss/alpha | 0.0101 | +| loss/critic | 3.97 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.43 | +| rollout_info/dynamics_penalty_mean | 0.00532 | +| rollout_info/dynamics_penalty_std | 0.0725 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249350, reward mean: 3.3466 +num rollout transitions: 249333, reward mean: 3.3487 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0272 | +| eval/episode_length | 24.1 | +| eval/episode_length_std | 0.3 | +| eval/normalized_episode_reward | 1.56 | +| eval/normalized_episode_reward_std | 0.638 | +| loss/actor | -308 | +| loss/alpha | 0.0015 | +| loss/critic | 3.56 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.432 | +| rollout_info/dynamics_penalty_mean | 0.00579 | +| rollout_info/dynamics_penalty_std | 0.0756 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249383, reward mean: 3.3329 +num rollout transitions: 249327, reward mean: 3.3381 +num rollout transitions: 249437, reward mean: 3.3282 +num rollout transitions: 249196, reward mean: 3.2923 +num rollout transitions: 249396, reward mean: 3.3477 +num rollout transitions: 249399, reward mean: 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| 108 | +| eval/normalized_episode_reward_std | 1.3 | +| loss/actor | -310 | +| loss/alpha | -0.00211 | +| loss/critic | 3.41 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.421 | +| rollout_info/dynamics_penalty_mean | 0.00523 | +| rollout_info/dynamics_penalty_std | 0.0719 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249369, reward mean: 3.3488 +num rollout transitions: 249291, reward mean: 3.3450 +num rollout transitions: 249334, reward mean: 3.3324 +num rollout transitions: 249277, reward mean: 3.3341 +num rollout transitions: 249370, reward mean: 3.3420 +num rollout transitions: 249396, reward mean: 3.3389 +num rollout transitions: 249337, reward mean: 3.3365 +num rollout transitions: 249329, reward mean: 3.3525 +num rollout transitions: 249351, reward mean: 3.3175 +num rollout transitions: 249283, 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reward mean: 3.3182 +num rollout transitions: 249378, reward mean: 3.3185 +num rollout transitions: 249255, reward mean: 3.3083 +num rollout transitions: 249402, reward mean: 3.3305 +---------------------------------------------------------------------------------- +| alpha | 0.0245 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 1.03 | +| loss/actor | -311 | +| loss/alpha | 0.00082 | +| loss/critic | 3.99 | +| penalty/lcb_mean | 0.196 | +| penalty/lcb_std | 0.405 | +| rollout_info/dynamics_penalty_mean | 0.00534 | +| rollout_info/dynamics_penalty_std | 0.0726 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249399, reward mean: 3.3436 +num rollout transitions: 249297, reward mean: 3.3312 +num rollout transitions: 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0.00511 | +| rollout_info/dynamics_penalty_std | 0.071 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249307, reward mean: 3.3317 +num rollout transitions: 249302, reward mean: 3.3306 +num rollout transitions: 249352, reward mean: 3.3394 +num rollout transitions: 249353, reward mean: 3.3266 +num rollout transitions: 249263, reward mean: 3.3244 +num rollout transitions: 249320, reward mean: 3.3236 +num rollout transitions: 249414, reward mean: 3.3072 +num rollout transitions: 249348, reward mean: 3.3349 +num rollout transitions: 249415, reward mean: 3.3302 +num rollout transitions: 249336, reward mean: 3.3017 +num rollout transitions: 249358, reward mean: 3.3373 +num rollout transitions: 249343, reward mean: 3.3310 +num rollout transitions: 249309, reward mean: 3.3480 +num rollout transitions: 249313, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0237 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 0.818 | +| loss/actor | -312 | +| loss/alpha | 0.0173 | +| loss/critic | 3.02 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.412 | +| rollout_info/dynamics_penalty_mean | 0.00502 | +| rollout_info/dynamics_penalty_std | 0.0704 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249384, reward mean: 3.3009 +num rollout transitions: 249319, reward mean: 3.3299 +num rollout transitions: 249401, reward mean: 3.3455 +num rollout transitions: 249327, reward mean: 3.3277 +num rollout transitions: 249299, reward mean: 3.3209 +num rollout transitions: 249372, reward mean: 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transitions: 249402, reward mean: 3.3254 +num rollout transitions: 249319, reward mean: 3.3226 +num rollout transitions: 249332, reward mean: 3.3290 +num rollout transitions: 249354, reward mean: 3.3395 +num rollout transitions: 249379, reward mean: 3.3448 +num rollout transitions: 249369, reward mean: 3.3397 +num rollout transitions: 249322, reward mean: 3.3408 +num rollout transitions: 249387, reward mean: 3.3204 +num rollout transitions: 249333, reward mean: 3.3130 +num rollout transitions: 249393, reward mean: 3.3337 +num rollout transitions: 249353, reward mean: 3.3339 +num rollout transitions: 249343, reward mean: 3.3347 +num rollout transitions: 249305, reward mean: 3.3222 +num rollout transitions: 249398, reward mean: 3.3358 +num rollout transitions: 249261, reward mean: 3.3292 +---------------------------------------------------------------------------------- +| alpha | 0.0233 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 1.08 | +| loss/actor | -313 | +| loss/alpha | -0.00583 | +| loss/critic | 3.04 | +| penalty/lcb_mean | 0.195 | +| penalty/lcb_std | 0.41 | +| rollout_info/dynamics_penalty_mean | 0.00449 | +| rollout_info/dynamics_penalty_std | 0.0665 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249421, reward mean: 3.3220 +num rollout transitions: 249244, reward mean: 3.3061 +num rollout transitions: 249334, reward mean: 3.3262 +num rollout transitions: 249401, reward mean: 3.3390 +num rollout transitions: 249248, reward mean: 3.3347 +num rollout transitions: 249346, reward mean: 3.3173 +num rollout transitions: 249318, reward mean: 3.3345 +num rollout transitions: 249418, reward mean: 3.3106 +num rollout transitions: 249370, reward mean: 3.3332 +num rollout transitions: 249356, 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reward mean: 3.3219 +num rollout transitions: 249277, reward mean: 3.3210 +num rollout transitions: 249303, reward mean: 3.3293 +num rollout transitions: 249202, reward mean: 3.3358 +---------------------------------------------------------------------------------- +| alpha | 0.0226 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 1.12 | +| loss/actor | -313 | +| loss/alpha | 0.00247 | +| loss/critic | 2.77 | +| penalty/lcb_mean | 0.196 | +| penalty/lcb_std | 0.409 | +| rollout_info/dynamics_penalty_mean | 0.00407 | +| rollout_info/dynamics_penalty_std | 0.0634 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1650000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249372, reward mean: 3.3483 +num rollout transitions: 249378, reward mean: 3.3430 +num rollout transitions: 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0.00421 | +| rollout_info/dynamics_penalty_std | 0.0645 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249393, reward mean: 3.3241 +num rollout transitions: 249378, reward mean: 3.3383 +num rollout transitions: 249244, reward mean: 3.3473 +num rollout transitions: 249362, reward mean: 3.3513 +num rollout transitions: 249357, reward mean: 3.3456 +num rollout transitions: 249407, reward mean: 3.3388 +num rollout transitions: 249328, reward mean: 3.3286 +num rollout transitions: 249317, reward mean: 3.3309 +num rollout transitions: 249383, reward mean: 3.3424 +num rollout transitions: 249347, reward mean: 3.3334 +num rollout transitions: 249371, reward mean: 3.3292 +num rollout transitions: 249361, reward mean: 3.3495 +num rollout transitions: 249310, reward mean: 3.3637 +num rollout transitions: 249343, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0216 | +| eval/episode_length | 702 | +| eval/episode_length_std | 303 | +| eval/normalized_episode_reward | 79.8 | +| eval/normalized_episode_reward_std | 36 | +| loss/actor | -314 | +| loss/alpha | -0.0209 | +| loss/critic | 2.64 | +| penalty/lcb_mean | 0.192 | +| penalty/lcb_std | 0.402 | +| rollout_info/dynamics_penalty_mean | 0.00438 | +| rollout_info/dynamics_penalty_std | 0.0658 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249387, reward mean: 3.3240 +num rollout transitions: 249320, reward mean: 3.3306 +num rollout transitions: 249363, reward mean: 3.3203 +num rollout transitions: 249365, reward mean: 3.3429 +num rollout transitions: 249254, reward mean: 3.3363 +num rollout transitions: 249399, reward mean: 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transitions: 249406, reward mean: 3.3264 +num rollout transitions: 249352, reward mean: 3.3376 +num rollout transitions: 249336, reward mean: 3.3345 +num rollout transitions: 249377, reward mean: 3.3222 +num rollout transitions: 249353, reward mean: 3.3363 +num rollout transitions: 249279, reward mean: 3.3292 +num rollout transitions: 249370, reward mean: 3.3404 +num rollout transitions: 249331, reward mean: 3.3379 +num rollout transitions: 249277, reward mean: 3.3389 +num rollout transitions: 249343, reward mean: 3.3494 +num rollout transitions: 249319, reward mean: 3.3491 +num rollout transitions: 249193, reward mean: 3.3502 +num rollout transitions: 249326, reward mean: 3.3372 +num rollout transitions: 249431, reward mean: 3.3219 +num rollout transitions: 249357, reward mean: 3.3533 +num rollout transitions: 249275, reward mean: 3.3720 +num rollout transitions: 249402, reward mean: 3.3436 +num rollout transitions: 249370, reward mean: 3.3531 +num rollout transitions: 249283, reward mean: 3.3424 +num rollout transitions: 249332, reward mean: 3.3343 +num rollout transitions: 249377, reward mean: 3.3436 +num rollout transitions: 249281, reward mean: 3.3197 +num rollout transitions: 249343, reward mean: 3.3659 +num rollout transitions: 249283, reward mean: 3.3491 +num rollout transitions: 249411, reward mean: 3.3293 +num rollout transitions: 249346, reward mean: 3.3241 +---------------------------------------------------------------------------------- +| alpha | 0.0225 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.926 | +| loss/actor | -314 | +| loss/alpha | 0.00493 | +| loss/critic | 3.42 | +| penalty/lcb_mean | 0.192 | +| penalty/lcb_std | 0.401 | +| rollout_info/dynamics_penalty_mean | 0.00434 | +| rollout_info/dynamics_penalty_std | 0.0655 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1800000 | 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transitions: 249326, reward mean: 3.3356 +num rollout transitions: 249307, reward mean: 3.3339 +num rollout transitions: 249369, reward mean: 3.3301 +num rollout transitions: 249290, reward mean: 3.3257 +num rollout transitions: 249363, reward mean: 3.3393 +num rollout transitions: 249355, reward mean: 3.3289 +num rollout transitions: 249324, reward mean: 3.3122 +num rollout transitions: 249346, reward mean: 3.3365 +num rollout transitions: 249358, reward mean: 3.3350 +num rollout transitions: 249391, reward mean: 3.3441 +num rollout transitions: 249256, reward mean: 3.3334 +num rollout transitions: 249286, reward mean: 3.3181 +num rollout transitions: 249411, reward mean: 3.3284 +num rollout transitions: 249377, reward mean: 3.3241 +num rollout transitions: 249350, reward mean: 3.3302 +---------------------------------------------------------------------------------- +| alpha | 0.0212 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.994 | +| loss/actor | -314 | +| loss/alpha | 0.00748 | +| loss/critic | 2.5 | +| penalty/lcb_mean | 0.19 | +| penalty/lcb_std | 0.397 | +| rollout_info/dynamics_penalty_mean | 0.00412 | +| rollout_info/dynamics_penalty_std | 0.0638 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249280, reward mean: 3.3311 +num rollout transitions: 249329, reward mean: 3.3350 +num rollout transitions: 249340, reward mean: 3.3336 +num rollout transitions: 249326, reward mean: 3.3329 +num rollout transitions: 249432, reward mean: 3.3159 +num rollout transitions: 249330, reward mean: 3.3303 +num rollout transitions: 249350, reward mean: 3.3347 +num rollout transitions: 249303, reward mean: 3.3210 +num rollout transitions: 249301, reward mean: 3.3339 +num rollout transitions: 249295, reward 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transitions: 249359, reward mean: 3.3312 +num rollout transitions: 249313, reward mean: 3.3563 +num rollout transitions: 249322, reward mean: 3.3450 +num rollout transitions: 249352, reward mean: 3.3231 +num rollout transitions: 249297, reward mean: 3.3414 +num rollout transitions: 249301, reward mean: 3.3416 +num rollout transitions: 249269, reward mean: 3.3292 +num rollout transitions: 249363, reward mean: 3.3767 +num rollout transitions: 249383, reward mean: 3.3403 +num rollout transitions: 249344, reward mean: 3.3293 +num rollout transitions: 249433, reward mean: 3.3408 +num rollout transitions: 249298, reward mean: 3.3252 +num rollout transitions: 249445, reward mean: 3.3197 +num rollout transitions: 249356, reward mean: 3.3370 +num rollout transitions: 249392, reward mean: 3.3237 +num rollout transitions: 249261, reward mean: 3.3058 +num rollout transitions: 249377, reward mean: 3.3394 +num rollout transitions: 249270, reward mean: 3.3193 +num rollout transitions: 249248, reward mean: 3.3347 +num rollout transitions: 249359, reward mean: 3.3268 +num rollout transitions: 249390, reward mean: 3.3495 +num rollout transitions: 249329, reward mean: 3.3530 +---------------------------------------------------------------------------------- +| alpha | 0.0224 | +| eval/episode_length | 521 | +| eval/episode_length_std | 203 | +| eval/normalized_episode_reward | 59.6 | +| eval/normalized_episode_reward_std | 24.7 | +| loss/actor | -314 | +| loss/alpha | 0.0136 | +| loss/critic | 3.07 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.416 | +| rollout_info/dynamics_penalty_mean | 0.00407 | +| rollout_info/dynamics_penalty_std | 0.0635 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249283, reward mean: 3.3289 +num rollout transitions: 249313, reward mean: 3.3343 +num rollout transitions: 249374, 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rollout transitions: 249290, reward mean: 3.3240 +num rollout transitions: 249339, reward mean: 3.3143 +num rollout transitions: 249333, reward mean: 3.3590 +num rollout transitions: 249354, reward mean: 3.3351 +num rollout transitions: 249423, reward mean: 3.3230 +num rollout transitions: 249326, reward mean: 3.3366 +num rollout transitions: 249383, reward mean: 3.3267 +num rollout transitions: 249297, reward mean: 3.3244 +num rollout transitions: 249351, reward mean: 3.3228 +num rollout transitions: 249329, reward mean: 3.3410 +num rollout transitions: 249310, reward mean: 3.3356 +num rollout transitions: 249289, reward mean: 3.3331 +num rollout transitions: 249294, reward mean: 3.3241 +num rollout transitions: 249365, reward mean: 3.3293 +num rollout transitions: 249368, reward mean: 3.3369 +num rollout transitions: 249391, reward mean: 3.3426 +num rollout transitions: 249324, reward mean: 3.3408 +num rollout transitions: 249366, reward mean: 3.3279 +num rollout transitions: 249387, reward mean: 3.3247 +num rollout transitions: 249364, reward mean: 3.3228 +num rollout transitions: 249339, reward mean: 3.3373 +num rollout transitions: 249334, reward mean: 3.3219 +num rollout transitions: 249369, reward mean: 3.3241 +num rollout transitions: 249269, reward mean: 3.3206 +num rollout transitions: 249338, reward mean: 3.3406 +num rollout transitions: 249298, reward mean: 3.3349 +num rollout transitions: 249401, reward mean: 3.3256 +num rollout transitions: 249349, reward mean: 3.3416 +num rollout transitions: 249378, reward mean: 3.3381 +---------------------------------------------------------------------------------- +| alpha | 0.0221 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.787 | +| loss/actor | -314 | +| loss/alpha | -0.0106 | +| loss/critic | 2.65 | +| penalty/lcb_mean | 0.197 | +| penalty/lcb_std | 0.414 | +| rollout_info/dynamics_penalty_mean | 0.00411 | +| rollout_info/dynamics_penalty_std | 0.0638 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249309, reward mean: 3.3335 +num rollout transitions: 249408, reward mean: 3.3262 +num rollout transitions: 249305, reward mean: 3.3300 +num rollout transitions: 249284, reward mean: 3.3184 +num rollout transitions: 249321, reward mean: 3.3363 +num rollout transitions: 249363, reward mean: 3.3447 +num rollout transitions: 249355, reward mean: 3.3420 +num rollout transitions: 249364, reward mean: 3.3328 +num rollout transitions: 249305, reward mean: 3.3249 +num rollout transitions: 249298, reward mean: 3.3602 +num rollout transitions: 249329, reward mean: 3.3272 +num rollout transitions: 249274, reward mean: 3.3209 +num rollout transitions: 249384, reward mean: 3.3100 +num rollout transitions: 249345, reward mean: 3.3336 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.0224 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.777 | +| loss/actor | -314 | +| loss/alpha | 0.0237 | +| loss/critic | 3.61 | +| penalty/lcb_mean | 0.2 | +| penalty/lcb_std | 0.422 | +| rollout_info/dynamics_penalty_mean | 0.00428 | +| rollout_info/dynamics_penalty_std | 0.0651 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249379, reward mean: 3.3232 +num rollout transitions: 249321, reward mean: 3.3454 +num rollout transitions: 249329, reward mean: 3.3319 +num rollout transitions: 249316, reward mean: 3.3377 +num rollout transitions: 249382, reward mean: 3.3369 +num rollout transitions: 249273, reward mean: 3.3433 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249411, reward mean: 3.3308 +num rollout transitions: 249252, reward mean: 3.3389 +num rollout transitions: 249359, reward mean: 3.3269 +num rollout transitions: 249315, reward mean: 3.3212 +num rollout transitions: 249323, reward mean: 3.3207 +num rollout transitions: 249403, reward mean: 3.3360 +num rollout transitions: 249296, reward mean: 3.3264 +num rollout transitions: 249374, reward mean: 3.3201 +num rollout transitions: 249309, reward mean: 3.3188 +num rollout transitions: 249338, reward mean: 3.3302 +num rollout transitions: 249362, reward mean: 3.3320 +num rollout transitions: 249250, reward mean: 3.3288 +num rollout transitions: 249402, reward mean: 3.3320 +num rollout transitions: 249362, reward mean: 3.3206 +num rollout transitions: 249345, reward mean: 3.3085 +num rollout transitions: 249342, reward mean: 3.3395 +num rollout transitions: 249306, reward mean: 3.3387 +num rollout transitions: 249249, reward mean: 3.3234 +num rollout transitions: 249296, reward mean: 3.3313 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+---------------------------------------------------------------------------------- +num rollout transitions: 249282, reward mean: 3.3429 +num rollout transitions: 249397, reward mean: 3.3191 +num rollout transitions: 249292, reward mean: 3.3326 +num rollout transitions: 249451, reward mean: 3.3204 +num rollout transitions: 249341, reward mean: 3.3179 +num rollout transitions: 249348, reward mean: 3.3260 +num rollout transitions: 249325, reward mean: 3.3334 +num rollout transitions: 249400, reward mean: 3.3151 +num rollout transitions: 249305, reward mean: 3.3379 +num rollout transitions: 249273, reward mean: 3.3330 +num rollout transitions: 249229, reward mean: 3.3262 +num rollout transitions: 249345, reward mean: 3.3192 +num rollout transitions: 249351, reward mean: 3.3342 +num rollout transitions: 249378, reward mean: 3.3225 +num rollout transitions: 249317, reward mean: 3.3481 +num rollout transitions: 249326, reward mean: 3.3406 +num rollout transitions: 249352, reward mean: 3.3345 +num rollout transitions: 249251, reward mean: 3.3423 +num rollout transitions: 249293, reward mean: 3.3310 +num rollout transitions: 249351, reward mean: 3.3272 +num rollout transitions: 249340, reward mean: 3.3304 +num rollout transitions: 249287, reward mean: 3.3231 +num rollout transitions: 249256, reward mean: 3.3204 +num rollout transitions: 249411, reward mean: 3.3219 +num rollout transitions: 249370, reward mean: 3.3270 +num rollout transitions: 249266, reward mean: 3.3159 +num rollout transitions: 249276, reward mean: 3.3291 +num rollout transitions: 249313, reward mean: 3.3279 +num rollout transitions: 249282, reward mean: 3.3146 +num rollout transitions: 249288, reward mean: 3.3301 +num rollout transitions: 249358, reward mean: 3.3182 +num rollout transitions: 249373, reward mean: 3.3299 +num rollout transitions: 249290, reward mean: 3.3322 +num rollout transitions: 249298, reward mean: 3.3275 +num rollout transitions: 249349, reward mean: 3.3320 +num rollout transitions: 249297, reward mean: 3.3442 +num rollout transitions: 249408, reward mean: 3.3277 +num rollout transitions: 249300, reward mean: 3.3223 +num rollout transitions: 249336, reward mean: 3.3471 +num rollout transitions: 249296, reward mean: 3.3355 +num rollout transitions: 249291, reward mean: 3.3342 +num rollout transitions: 249377, reward mean: 3.3315 +num rollout transitions: 249202, reward mean: 3.3277 +num rollout transitions: 249309, reward mean: 3.3350 +num rollout transitions: 249437, reward mean: 3.3341 +num rollout transitions: 249346, reward mean: 3.3296 +num rollout transitions: 249303, reward mean: 3.3340 +num rollout transitions: 249463, reward mean: 3.3328 +num rollout transitions: 249307, reward mean: 3.3179 +num rollout transitions: 249286, reward mean: 3.3392 +---------------------------------------------------------------------------------- +| alpha | 0.0217 | +| eval/episode_length | 915 | +| eval/episode_length_std | 254 | +| eval/normalized_episode_reward | 103 | +| eval/normalized_episode_reward_std | 30.3 | +| loss/actor | -314 | +| loss/alpha | 0.00255 | +| loss/critic | 3.09 | +| penalty/lcb_mean | 0.195 | +| penalty/lcb_std | 0.411 | +| rollout_info/dynamics_penalty_mean | 0.00411 | +| rollout_info/dynamics_penalty_std | 0.0637 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249259, reward mean: 3.3302 +num rollout transitions: 249305, reward mean: 3.3339 +num rollout transitions: 249448, reward mean: 3.3242 +num rollout transitions: 249393, reward mean: 3.3184 +num rollout transitions: 249340, reward mean: 3.3381 +num rollout transitions: 249341, reward mean: 3.3321 +num rollout transitions: 249291, reward mean: 3.3200 +num rollout transitions: 249315, reward mean: 3.3470 +num rollout transitions: 249302, reward mean: 3.3289 +num rollout transitions: 249236, 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reward mean: 3.3239 +num rollout transitions: 249302, reward mean: 3.3259 +num rollout transitions: 249307, reward mean: 3.3306 +num rollout transitions: 249337, reward mean: 3.3299 +---------------------------------------------------------------------------------- +| alpha | 0.0216 | +| eval/episode_length | 209 | +| eval/episode_length_std | 184 | +| eval/normalized_episode_reward | 20.5 | +| eval/normalized_episode_reward_std | 22.7 | +| loss/actor | -314 | +| loss/alpha | 0.000304 | +| loss/critic | 2.67 | +| penalty/lcb_mean | 0.196 | +| penalty/lcb_std | 0.416 | +| rollout_info/dynamics_penalty_mean | 0.00409 | +| rollout_info/dynamics_penalty_std | 0.0636 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249310, reward mean: 3.3202 +num rollout transitions: 249419, reward mean: 3.3267 +num rollout transitions: 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249309, reward mean: 3.3255 +num rollout transitions: 249291, reward mean: 3.3275 +num rollout transitions: 249307, reward mean: 3.3415 +num rollout transitions: 249274, reward mean: 3.3336 +num rollout transitions: 249405, reward mean: 3.3159 +num rollout transitions: 249321, reward mean: 3.3341 +num rollout transitions: 249376, reward mean: 3.3486 +num rollout transitions: 249336, reward mean: 3.3119 +num rollout transitions: 249391, reward mean: 3.3228 +num rollout transitions: 249358, reward mean: 3.3320 +num rollout transitions: 249370, reward mean: 3.3426 +---------------------------------------------------------------------------------- +| alpha | 0.0216 | +| eval/episode_length | 953 | +| eval/episode_length_std | 121 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 14.3 | +| loss/actor | -314 | +| loss/alpha | 0.00036 | +| loss/critic | 2.77 | +| penalty/lcb_mean | 0.196 | +| penalty/lcb_std | 0.413 | +| rollout_info/dynamics_penalty_mean | 0.00398 | +| rollout_info/dynamics_penalty_std | 0.0628 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249371, reward mean: 3.3257 +num rollout transitions: 249288, reward mean: 3.3277 +num rollout transitions: 249385, reward mean: 3.3316 +num rollout transitions: 249266, reward mean: 3.3389 +num rollout transitions: 249342, reward mean: 3.3351 +num rollout transitions: 249355, reward mean: 3.3289 +num rollout transitions: 249378, reward mean: 3.3439 +num rollout transitions: 249309, reward mean: 3.3312 +num rollout transitions: 249390, reward mean: 3.3450 +num rollout transitions: 249325, reward mean: 3.3402 +num rollout transitions: 249301, reward mean: 3.3485 +num rollout transitions: 249385, reward mean: 3.3353 +num rollout transitions: 249302, reward mean: 3.3348 +num rollout transitions: 249364, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0209 | +| eval/episode_length | 341 | +| eval/episode_length_std | 350 | +| eval/normalized_episode_reward | 35.6 | +| eval/normalized_episode_reward_std | 41.7 | +| loss/actor | -314 | +| loss/alpha | -0.00087 | +| loss/critic | 2.94 | +| penalty/lcb_mean | 0.197 | +| penalty/lcb_std | 0.418 | +| rollout_info/dynamics_penalty_mean | 0.00427 | +| rollout_info/dynamics_penalty_std | 0.065 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249256, reward mean: 3.3247 +num rollout transitions: 249384, reward mean: 3.3604 +num rollout transitions: 249336, reward mean: 3.3434 +num rollout transitions: 249347, reward mean: 3.3350 +num rollout transitions: 249327, reward mean: 3.3300 +num rollout transitions: 249332, reward mean: 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transitions: 249445, reward mean: 3.3273 +num rollout transitions: 249257, reward mean: 3.3322 +num rollout transitions: 249366, reward mean: 3.3317 +num rollout transitions: 249412, reward mean: 3.3241 +num rollout transitions: 249309, reward mean: 3.3224 +num rollout transitions: 249310, reward mean: 3.3294 +num rollout transitions: 249246, reward mean: 3.3356 +num rollout transitions: 249296, reward mean: 3.3302 +num rollout transitions: 249314, reward mean: 3.3370 +num rollout transitions: 249287, reward mean: 3.3304 +num rollout transitions: 249367, reward mean: 3.3132 +num rollout transitions: 249303, reward mean: 3.3230 +num rollout transitions: 249318, reward mean: 3.3102 +num rollout transitions: 249334, reward mean: 3.3477 +num rollout transitions: 249315, reward mean: 3.3443 +---------------------------------------------------------------------------------- +| alpha | 0.0208 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 1.15 | +| loss/actor | -314 | +| loss/alpha | 0.0198 | +| loss/critic | 2.6 | +| penalty/lcb_mean | 0.197 | +| penalty/lcb_std | 0.421 | +| rollout_info/dynamics_penalty_mean | 0.00362 | +| rollout_info/dynamics_penalty_std | 0.0599 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249307, reward mean: 3.3472 +num rollout transitions: 249338, reward mean: 3.3397 +num rollout transitions: 249388, reward mean: 3.3397 +num rollout transitions: 249376, reward mean: 3.3229 +num rollout transitions: 249320, reward mean: 3.3440 +num rollout transitions: 249367, reward mean: 3.3297 +num rollout transitions: 249335, reward mean: 3.3304 +num rollout transitions: 249306, reward mean: 3.3448 +num rollout transitions: 249330, reward mean: 3.3395 +num rollout transitions: 249279, reward 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mean: 3.3307 +num rollout transitions: 249358, reward mean: 3.3327 +num rollout transitions: 249322, reward mean: 3.3395 +num rollout transitions: 249310, reward mean: 3.3166 +---------------------------------------------------------------------------------- +| alpha | 0.0208 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.811 | +| loss/actor | -314 | +| loss/alpha | -0.0207 | +| loss/critic | 2.55 | +| penalty/lcb_mean | 0.196 | +| penalty/lcb_std | 0.417 | +| rollout_info/dynamics_penalty_mean | 0.00373 | +| rollout_info/dynamics_penalty_std | 0.0608 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2400000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249320, reward mean: 3.3316 +num rollout transitions: 249422, reward mean: 3.3227 +num rollout transitions: 249376, 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+| rollout_info/dynamics_penalty_std | 0.0611 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249395, reward mean: 3.3368 +num rollout transitions: 249332, reward mean: 3.3250 +num rollout transitions: 249307, reward mean: 3.3355 +num rollout transitions: 249316, reward mean: 3.3384 +num rollout transitions: 249312, reward mean: 3.3324 +num rollout transitions: 249382, reward mean: 3.3250 +num rollout transitions: 249294, reward mean: 3.3365 +num rollout transitions: 249356, reward mean: 3.3083 +num rollout transitions: 249317, reward mean: 3.3167 +num rollout transitions: 249414, reward mean: 3.3475 +num rollout transitions: 249379, reward mean: 3.3250 +num rollout transitions: 249349, reward mean: 3.3306 +num rollout transitions: 249346, reward mean: 3.3364 +num rollout transitions: 249266, reward mean: 3.3181 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.0214 | +| eval/episode_length | 797 | +| eval/episode_length_std | 256 | +| eval/normalized_episode_reward | 91 | +| eval/normalized_episode_reward_std | 29.6 | +| loss/actor | -314 | +| loss/alpha | -0.00611 | +| loss/critic | 3.33 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.418 | +| rollout_info/dynamics_penalty_mean | 0.0039 | +| rollout_info/dynamics_penalty_std | 0.0621 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249409, reward mean: 3.3299 +num rollout transitions: 249405, reward mean: 3.3485 +num rollout transitions: 249336, reward mean: 3.3247 +num rollout transitions: 249292, reward mean: 3.3283 +num rollout transitions: 249279, reward mean: 3.3228 +num rollout transitions: 249332, reward mean: 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eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.949 | +| loss/actor | -315 | +| loss/alpha | -0.000814 | +| loss/critic | 2.51 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.42 | +| rollout_info/dynamics_penalty_mean | 0.00382 | +| rollout_info/dynamics_penalty_std | 0.0615 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2600000 | +----------------------------------------------------------------------------------- +num rollout transitions: 249430, reward mean: 3.3371 +num rollout transitions: 249369, reward mean: 3.3323 +num rollout transitions: 249305, reward mean: 3.3359 +num rollout transitions: 249256, reward mean: 3.3193 +num rollout transitions: 249305, reward mean: 3.3186 +num rollout transitions: 249367, reward mean: 3.3278 +num rollout transitions: 249360, reward mean: 3.3293 +num rollout transitions: 249320, reward mean: 3.3230 +num rollout transitions: 249305, reward mean: 3.3304 +num 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rollout_info/dynamics_penalty_mean | 0.00372 | +| rollout_info/dynamics_penalty_std | 0.0607 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249369, reward mean: 3.3333 +num rollout transitions: 249271, reward mean: 3.3305 +num rollout transitions: 249319, reward mean: 3.3340 +num rollout transitions: 249301, reward mean: 3.3350 +num rollout transitions: 249318, reward mean: 3.3450 +num rollout transitions: 249389, reward mean: 3.3425 +num rollout transitions: 249353, reward mean: 3.3432 +num rollout transitions: 249352, reward mean: 3.3244 +num rollout transitions: 249343, reward mean: 3.3188 +num rollout transitions: 249292, reward mean: 3.3236 +num rollout transitions: 249298, reward mean: 3.3192 +num rollout transitions: 249340, reward mean: 3.3489 +num rollout transitions: 249421, reward mean: 3.3422 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0204 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.814 | +| loss/actor | -314 | +| loss/alpha | -0.0211 | +| loss/critic | 2.68 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.43 | +| rollout_info/dynamics_penalty_mean | 0.00377 | +| rollout_info/dynamics_penalty_std | 0.0611 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249370, reward mean: 3.3317 +num rollout transitions: 249379, reward mean: 3.3259 +num rollout transitions: 249319, reward mean: 3.3238 +num rollout transitions: 249365, reward mean: 3.3224 +num rollout transitions: 249332, reward mean: 3.3195 +num rollout transitions: 249404, reward mean: 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| 113 | +| eval/normalized_episode_reward_std | 0.92 | +| loss/actor | -314 | +| loss/alpha | -0.0037 | +| loss/critic | 2.28 | +| penalty/lcb_mean | 0.202 | +| penalty/lcb_std | 0.428 | +| rollout_info/dynamics_penalty_mean | 0.0036 | +| rollout_info/dynamics_penalty_std | 0.0597 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249209, reward mean: 3.3232 +num rollout transitions: 249405, reward mean: 3.3297 +num rollout transitions: 249406, reward mean: 3.3278 +num rollout transitions: 249350, reward mean: 3.3340 +num rollout transitions: 249348, reward mean: 3.3297 +num rollout transitions: 249317, reward mean: 3.3323 +num rollout transitions: 249352, reward mean: 3.3257 +num rollout transitions: 249316, reward mean: 3.3331 +num rollout transitions: 249209, reward mean: 3.3227 +num rollout transitions: 249377, reward 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mean: 3.3233 +num rollout transitions: 249295, reward mean: 3.3231 +num rollout transitions: 249333, reward mean: 3.3188 +num rollout transitions: 249291, reward mean: 3.3264 +---------------------------------------------------------------------------------- +| alpha | 0.0196 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 1.09 | +| loss/actor | -314 | +| loss/alpha | -0.0146 | +| loss/critic | 2.45 | +| penalty/lcb_mean | 0.203 | +| penalty/lcb_std | 0.436 | +| rollout_info/dynamics_penalty_mean | 0.00381 | +| rollout_info/dynamics_penalty_std | 0.0615 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249341, reward mean: 3.3198 +num rollout transitions: 249306, reward mean: 3.3252 +num rollout transitions: 249283, 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+---------------------------------------------------------------------------------- +| alpha | 0.0212 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.875 | +| loss/actor | -313 | +| loss/alpha | 0.0867 | +| loss/critic | 2.24 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.433 | +| rollout_info/dynamics_penalty_mean | 0.00374 | +| rollout_info/dynamics_penalty_std | 0.0609 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 3000000 | +---------------------------------------------------------------------------------- +total time: 122784.52s diff --git a/hopper_medium_expert_sparse/mobile_based/realnvp/seed_42×tamp_26-0317-002436/record/dynamics_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/realnvp/seed_42×tamp_26-0317-002436/record/dynamics_training_progress.csv new file mode 100644 index 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transitions: 249337, reward mean: 3.4489 +num rollout transitions: 249313, reward mean: 3.4430 +num rollout transitions: 249332, reward mean: 3.4379 +num rollout transitions: 249322, reward mean: 3.4316 +num rollout transitions: 249308, reward mean: 3.4574 +num rollout transitions: 249357, reward mean: 3.4509 +num rollout transitions: 249408, reward mean: 3.4277 +num rollout transitions: 249390, reward mean: 3.4327 +num rollout transitions: 249364, reward mean: 3.4088 +num rollout transitions: 249341, reward mean: 3.4254 +num rollout transitions: 249346, reward mean: 3.3958 +num rollout transitions: 249284, reward mean: 3.4121 +num rollout transitions: 249318, reward mean: 3.4314 +---------------------------------------------------------------------------------- +| alpha | 0.236 | +| eval/episode_length | 67.1 | +| eval/episode_length_std | 0.602 | +| eval/normalized_episode_reward | 4.73 | +| eval/normalized_episode_reward_std | 0.662 | +| loss/actor | -318 | +| loss/alpha | -1.05 | 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mean: 3.3749 +num rollout transitions: 249352, reward mean: 3.3861 +---------------------------------------------------------------------------------- +| alpha | 0.077 | +| eval/episode_length | 63.1 | +| eval/episode_length_std | 0.433 | +| eval/normalized_episode_reward | 4.39 | +| eval/normalized_episode_reward_std | 0.658 | +| loss/actor | -417 | +| loss/alpha | -0.013 | +| loss/critic | 14.8 | +| penalty/lcb_mean | 0.338 | +| penalty/lcb_std | 0.608 | +| rollout_info/dynamics_penalty_mean | 0.0334 | +| rollout_info/dynamics_penalty_std | 0.177 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.41 | +| timestep | 100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249325, reward mean: 3.4000 +num rollout transitions: 249287, reward mean: 3.3951 +num rollout transitions: 249303, reward mean: 3.3803 +num rollout transitions: 249307, reward mean: 3.3617 +num rollout transitions: 249263, 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rollout_info/reward_mean | 3.36 | +| timestep | 150000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249332, reward mean: 3.3540 +num rollout transitions: 249281, reward mean: 3.3635 +num rollout transitions: 249298, reward mean: 3.3554 +num rollout transitions: 249326, reward mean: 3.3705 +num rollout transitions: 249363, reward mean: 3.3717 +num rollout transitions: 249289, reward mean: 3.3308 +num rollout transitions: 249320, reward mean: 3.3448 +num rollout transitions: 249258, reward mean: 3.3515 +num rollout transitions: 249253, reward mean: 3.3238 +num rollout transitions: 249279, reward mean: 3.3598 +num rollout transitions: 249330, reward mean: 3.3509 +num rollout transitions: 249392, reward mean: 3.3485 +num rollout transitions: 249374, reward mean: 3.3536 +num rollout transitions: 249311, reward mean: 3.3432 +num rollout transitions: 249283, reward mean: 3.3522 +num rollout transitions: 249343, reward mean: 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eval/episode_length_std | 6.85 | +| eval/normalized_episode_reward | 29.5 | +| eval/normalized_episode_reward_std | 1.48 | +| loss/actor | -315 | +| loss/alpha | -0.0262 | +| loss/critic | 6.65 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.349 | +| rollout_info/dynamics_penalty_mean | 0.00562 | +| rollout_info/dynamics_penalty_std | 0.0743 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.36 | +| timestep | 200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249315, reward mean: 3.3607 +num rollout transitions: 249299, reward mean: 3.3722 +num rollout transitions: 249274, reward mean: 3.3860 +num rollout transitions: 249322, reward mean: 3.3786 +num rollout transitions: 249396, reward mean: 3.3518 +num rollout transitions: 249366, reward mean: 3.3561 +num rollout transitions: 249407, reward mean: 3.3534 +num rollout transitions: 249358, reward mean: 3.3491 +num rollout transitions: 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transitions: 249348, reward mean: 3.3450 +num rollout transitions: 249380, reward mean: 3.3500 +num rollout transitions: 249309, reward mean: 3.3391 +num rollout transitions: 249336, reward mean: 3.3482 +num rollout transitions: 249385, reward mean: 3.3230 +num rollout transitions: 249289, reward mean: 3.3264 +num rollout transitions: 249237, reward mean: 3.3531 +num rollout transitions: 249330, reward mean: 3.3094 +num rollout transitions: 249408, reward mean: 3.3595 +num rollout transitions: 249369, reward mean: 3.3344 +num rollout transitions: 249314, reward mean: 3.3447 +num rollout transitions: 249311, reward mean: 3.3444 +num rollout transitions: 249367, reward mean: 3.3469 +num rollout transitions: 249347, reward mean: 3.3409 +num rollout transitions: 249390, reward mean: 3.3328 +num rollout transitions: 249242, reward mean: 3.3548 +num rollout transitions: 249366, reward mean: 3.3290 +num rollout transitions: 249338, reward mean: 3.3598 +num rollout transitions: 249275, reward mean: 3.3352 +num rollout transitions: 249372, reward mean: 3.3496 +num rollout transitions: 249317, reward mean: 3.3301 +num rollout transitions: 249235, reward mean: 3.3338 +num rollout transitions: 249302, reward mean: 3.3331 +num rollout transitions: 249354, reward mean: 3.3325 +num rollout transitions: 249336, reward mean: 3.3372 +num rollout transitions: 249270, reward mean: 3.2990 +num rollout transitions: 249293, reward mean: 3.3397 +num rollout transitions: 249337, reward mean: 3.3380 +num rollout transitions: 249296, reward mean: 3.3324 +num rollout transitions: 249330, reward mean: 3.3281 +num rollout transitions: 249286, reward mean: 3.3411 +num rollout transitions: 249306, reward mean: 3.3437 +num rollout transitions: 249340, reward mean: 3.3499 +num rollout transitions: 249317, reward mean: 3.3148 +num rollout transitions: 249374, reward mean: 3.3352 +num rollout transitions: 249320, reward mean: 3.3093 +num rollout transitions: 249350, reward mean: 3.3156 +num rollout transitions: 249355, reward mean: 3.3344 +num rollout transitions: 249338, reward mean: 3.3404 +num rollout transitions: 249372, reward mean: 3.3271 +num rollout transitions: 249252, reward mean: 3.3347 +num rollout transitions: 249329, reward mean: 3.3493 +num rollout transitions: 249283, reward mean: 3.3705 +num rollout transitions: 249322, reward mean: 3.3368 +num rollout transitions: 249354, reward mean: 3.3327 +num rollout transitions: 249324, reward mean: 3.3360 +num rollout transitions: 249405, reward mean: 3.3479 +num rollout transitions: 249323, reward mean: 3.3156 +num rollout transitions: 249252, reward mean: 3.3123 +---------------------------------------------------------------------------------- +| alpha | 0.0312 | +| eval/episode_length | 126 | +| eval/episode_length_std | 2.41 | +| eval/normalized_episode_reward | 9.62 | +| eval/normalized_episode_reward_std | 0.846 | +| loss/actor | -309 | +| loss/alpha | -0.00907 | +| loss/critic | 5.34 | +| penalty/lcb_mean | 0.173 | +| penalty/lcb_std | 0.348 | +| rollout_info/dynamics_penalty_mean | 0.00536 | +| rollout_info/dynamics_penalty_std | 0.0726 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249385, reward mean: 3.3393 +num rollout transitions: 249307, reward mean: 3.3368 +num rollout transitions: 249327, reward mean: 3.3432 +num rollout transitions: 249294, reward mean: 3.3647 +num rollout transitions: 249264, reward mean: 3.3425 +num rollout transitions: 249360, reward mean: 3.3406 +num rollout transitions: 249439, reward mean: 3.3225 +num rollout transitions: 249264, reward mean: 3.3340 +num rollout transitions: 249194, reward mean: 3.3071 +num rollout transitions: 249325, reward mean: 3.3890 +num rollout transitions: 249298, reward mean: 3.3551 +num rollout transitions: 249333, reward mean: 3.3441 +num rollout transitions: 249254, 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reward mean: 3.3430 +---------------------------------------------------------------------------------- +| alpha | 0.0312 | +| eval/episode_length | 426 | +| eval/episode_length_std | 93.4 | +| eval/normalized_episode_reward | 45.6 | +| eval/normalized_episode_reward_std | 11.9 | +| loss/actor | -309 | +| loss/alpha | 0.0142 | +| loss/critic | 5.75 | +| penalty/lcb_mean | 0.175 | +| penalty/lcb_std | 0.351 | +| rollout_info/dynamics_penalty_mean | 0.00568 | +| rollout_info/dynamics_penalty_std | 0.0747 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249344, reward mean: 3.3412 +num rollout transitions: 249296, reward mean: 3.3307 +num rollout transitions: 249384, reward mean: 3.3301 +num rollout transitions: 249343, reward mean: 3.3064 +num rollout transitions: 249296, reward mean: 3.3176 +num rollout transitions: 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| +---------------------------------------------------------------------------------- +num rollout transitions: 249279, reward mean: 3.3640 +num rollout transitions: 249345, reward mean: 3.3441 +num rollout transitions: 249343, reward mean: 3.3604 +num rollout transitions: 249321, reward mean: 3.3683 +num rollout transitions: 249367, reward mean: 3.3519 +num rollout transitions: 249356, reward mean: 3.3668 +num rollout transitions: 249262, reward mean: 3.3450 +num rollout transitions: 249348, reward mean: 3.3508 +num rollout transitions: 249329, reward mean: 3.3444 +num rollout transitions: 249319, reward mean: 3.3528 +num rollout transitions: 249381, reward mean: 3.3315 +num rollout transitions: 249248, reward mean: 3.3312 +num rollout transitions: 249325, reward mean: 3.3391 +num rollout transitions: 249352, reward mean: 3.3401 +num rollout transitions: 249315, reward mean: 3.3330 +num rollout transitions: 249302, reward mean: 3.3406 +num rollout transitions: 249261, reward mean: 3.3422 +num rollout transitions: 249340, reward mean: 3.3362 +num rollout transitions: 249374, reward mean: 3.3399 +num rollout transitions: 249330, reward mean: 3.3376 +num rollout transitions: 249345, reward mean: 3.3826 +num rollout transitions: 249268, reward mean: 3.3679 +num rollout transitions: 249243, reward mean: 3.3492 +num rollout transitions: 249335, reward mean: 3.3581 +num rollout transitions: 249362, reward mean: 3.3620 +num rollout transitions: 249285, reward mean: 3.3324 +num rollout transitions: 249351, reward mean: 3.3609 +num rollout transitions: 249308, reward mean: 3.3395 +num rollout transitions: 249262, reward mean: 3.3642 +num rollout transitions: 249342, reward mean: 3.3406 +num rollout transitions: 249271, reward mean: 3.3390 +num rollout transitions: 249310, reward mean: 3.3661 +num rollout transitions: 249348, reward mean: 3.3463 +num rollout transitions: 249300, reward mean: 3.3277 +num rollout transitions: 249310, reward mean: 3.3368 +num rollout transitions: 249336, reward mean: 3.3399 +num rollout transitions: 249390, reward mean: 3.3505 +num rollout transitions: 249330, reward mean: 3.3462 +num rollout transitions: 249276, reward mean: 3.3271 +num rollout transitions: 249329, reward mean: 3.3530 +num rollout transitions: 249335, reward mean: 3.3447 +num rollout transitions: 249265, reward mean: 3.3315 +num rollout transitions: 249279, reward mean: 3.3369 +num rollout transitions: 249226, reward mean: 3.3278 +num rollout transitions: 249332, reward mean: 3.3204 +num rollout transitions: 249359, reward mean: 3.3131 +num rollout transitions: 249297, reward mean: 3.3340 +num rollout transitions: 249320, reward mean: 3.3491 +num rollout transitions: 249423, reward mean: 3.3330 +num rollout transitions: 249351, reward mean: 3.3055 +---------------------------------------------------------------------------------- +| alpha | 0.0318 | +| eval/episode_length | 172 | +| eval/episode_length_std | 92.8 | +| eval/normalized_episode_reward | 16.5 | +| eval/normalized_episode_reward_std | 10 | +| loss/actor | -304 | +| loss/alpha | 0.0152 | +| loss/critic | 5.47 | +| penalty/lcb_mean | 0.198 | +| penalty/lcb_std | 0.382 | +| rollout_info/dynamics_penalty_mean | 0.00501 | +| rollout_info/dynamics_penalty_std | 0.0703 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249317, reward mean: 3.3407 +num rollout transitions: 249409, reward mean: 3.3248 +num rollout transitions: 249264, reward mean: 3.3209 +num rollout transitions: 249221, reward mean: 3.3573 +num rollout transitions: 249268, reward mean: 3.3510 +num rollout transitions: 249314, reward mean: 3.3572 +num rollout transitions: 249420, reward mean: 3.3523 +num rollout transitions: 249381, reward mean: 3.3548 +num rollout transitions: 249313, reward mean: 3.3513 +num 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rollout transitions: 249363, reward mean: 3.3218 +num rollout transitions: 249276, reward mean: 3.3337 +num rollout transitions: 249417, reward mean: 3.3469 +num rollout transitions: 249387, reward mean: 3.3335 +---------------------------------------------------------------------------------- +| alpha | 0.0305 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 0.797 | +| loss/actor | -304 | +| loss/alpha | -0.0268 | +| loss/critic | 6.71 | +| penalty/lcb_mean | 0.199 | +| penalty/lcb_std | 0.384 | +| rollout_info/dynamics_penalty_mean | 0.00539 | +| rollout_info/dynamics_penalty_std | 0.0729 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249274, reward mean: 3.3217 +num rollout transitions: 249276, reward mean: 3.3386 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rollout_info/dynamics_penalty_mean | 0.00524 | +| rollout_info/dynamics_penalty_std | 0.072 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249286, reward mean: 3.3281 +num rollout transitions: 249345, reward mean: 3.3109 +num rollout transitions: 249257, reward mean: 3.3306 +num rollout transitions: 249289, reward mean: 3.3296 +num rollout transitions: 249353, reward mean: 3.3401 +num rollout transitions: 249339, reward mean: 3.3248 +num rollout transitions: 249322, reward mean: 3.3273 +num rollout transitions: 249343, reward mean: 3.3109 +num rollout transitions: 249373, reward mean: 3.3143 +num rollout transitions: 249376, reward mean: 3.3134 +num rollout transitions: 249320, reward mean: 3.3242 +num rollout transitions: 249362, reward mean: 3.3307 +num rollout transitions: 249363, reward mean: 3.3742 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0276 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 0.908 | +| loss/actor | -307 | +| loss/alpha | -0.00641 | +| loss/critic | 5.15 | +| penalty/lcb_mean | 0.193 | +| penalty/lcb_std | 0.384 | +| rollout_info/dynamics_penalty_mean | 0.00484 | +| rollout_info/dynamics_penalty_std | 0.0692 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249290, reward mean: 3.3297 +num rollout transitions: 249285, reward mean: 3.3486 +num rollout transitions: 249329, reward mean: 3.3487 +num rollout transitions: 249408, reward mean: 3.3497 +num rollout transitions: 249293, reward mean: 3.3493 +num rollout transitions: 249323, reward mean: 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eval/normalized_episode_reward | 29.5 | +| eval/normalized_episode_reward_std | 0.775 | +| loss/actor | -310 | +| loss/alpha | -0.0262 | +| loss/critic | 5.46 | +| penalty/lcb_mean | 0.189 | +| penalty/lcb_std | 0.382 | +| rollout_info/dynamics_penalty_mean | 0.00521 | +| rollout_info/dynamics_penalty_std | 0.0717 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.32 | +| timestep | 700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249301, reward mean: 3.3442 +num rollout transitions: 249321, reward mean: 3.3326 +num rollout transitions: 249390, reward mean: 3.3317 +num rollout transitions: 249287, reward mean: 3.3269 +num rollout transitions: 249244, reward mean: 3.3311 +num rollout transitions: 249379, reward mean: 3.3297 +num rollout transitions: 249253, reward mean: 3.3259 +num rollout transitions: 249337, reward mean: 3.3355 +num rollout transitions: 249319, reward mean: 3.3120 +num 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rollout_info/dynamics_penalty_mean | 0.00503 | +| rollout_info/dynamics_penalty_std | 0.0705 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249269, reward mean: 3.3080 +num rollout transitions: 249310, reward mean: 3.3090 +num rollout transitions: 249290, reward mean: 3.3318 +num rollout transitions: 249332, reward mean: 3.3392 +num rollout transitions: 249302, reward mean: 3.3336 +num rollout transitions: 249225, reward mean: 3.3388 +num rollout transitions: 249289, reward mean: 3.3514 +num rollout transitions: 249248, reward mean: 3.3458 +num rollout transitions: 249323, reward mean: 3.3366 +num rollout transitions: 249259, reward mean: 3.3285 +num rollout transitions: 249249, reward mean: 3.3253 +num rollout transitions: 249363, reward mean: 3.3091 +num rollout transitions: 249322, reward mean: 3.3308 +num rollout 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+---------------------------------------------------------------------------------- +| alpha | 0.0263 | +| eval/episode_length | 123 | +| eval/episode_length_std | 9.1 | +| eval/normalized_episode_reward | 9.8 | +| eval/normalized_episode_reward_std | 1.4 | +| loss/actor | -310 | +| loss/alpha | -0.0145 | +| loss/critic | 3.94 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.381 | +| rollout_info/dynamics_penalty_mean | 0.00503 | +| rollout_info/dynamics_penalty_std | 0.0706 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249299, reward mean: 3.3276 +num rollout transitions: 249356, reward mean: 3.3242 +num rollout transitions: 249305, reward mean: 3.3370 +num rollout transitions: 249309, reward mean: 3.3270 +num rollout transitions: 249225, reward mean: 3.3282 +num rollout transitions: 249283, reward mean: 3.3165 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transitions: 249229, reward mean: 3.3353 +num rollout transitions: 249300, reward mean: 3.3565 +num rollout transitions: 249313, reward mean: 3.3506 +num rollout transitions: 249315, reward mean: 3.3198 +num rollout transitions: 249355, reward mean: 3.3408 +num rollout transitions: 249324, reward mean: 3.3271 +num rollout transitions: 249259, reward mean: 3.3075 +num rollout transitions: 249314, reward mean: 3.3253 +num rollout transitions: 249212, reward mean: 3.3286 +num rollout transitions: 249249, reward mean: 3.3395 +num rollout transitions: 249304, reward mean: 3.3295 +num rollout transitions: 249362, reward mean: 3.3078 +num rollout transitions: 249326, reward mean: 3.3335 +num rollout transitions: 249341, reward mean: 3.3569 +num rollout transitions: 249336, reward mean: 3.3421 +---------------------------------------------------------------------------------- +| alpha | 0.0248 | +| eval/episode_length | 235 | +| eval/episode_length_std | 283 | +| eval/normalized_episode_reward | 22.9 | +| eval/normalized_episode_reward_std | 33.1 | +| loss/actor | -311 | +| loss/alpha | 0.0115 | +| loss/critic | 4.34 | +| penalty/lcb_mean | 0.187 | +| penalty/lcb_std | 0.38 | +| rollout_info/dynamics_penalty_mean | 0.00458 | +| rollout_info/dynamics_penalty_std | 0.0673 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249345, reward mean: 3.3344 +num rollout transitions: 249268, reward mean: 3.3239 +num rollout transitions: 249332, reward mean: 3.3143 +num rollout transitions: 249282, reward mean: 3.3329 +num rollout transitions: 249347, reward mean: 3.3377 +num rollout transitions: 249386, reward mean: 3.3262 +num rollout transitions: 249285, reward mean: 3.3308 +num rollout transitions: 249197, reward mean: 3.3273 +num rollout transitions: 249302, reward mean: 3.3437 +num rollout transitions: 249210, reward 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mean: 3.3292 +num rollout transitions: 249325, reward mean: 3.3664 +num rollout transitions: 249298, reward mean: 3.3365 +num rollout transitions: 249325, reward mean: 3.3422 +---------------------------------------------------------------------------------- +| alpha | 0.0239 | +| eval/episode_length | 431 | +| eval/episode_length_std | 81 | +| eval/normalized_episode_reward | 48.4 | +| eval/normalized_episode_reward_std | 10.1 | +| loss/actor | -311 | +| loss/alpha | -0.0114 | +| loss/critic | 3.21 | +| penalty/lcb_mean | 0.19 | +| penalty/lcb_std | 0.389 | +| rollout_info/dynamics_penalty_mean | 0.00512 | +| rollout_info/dynamics_penalty_std | 0.0711 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249273, reward mean: 3.3580 +num rollout transitions: 249345, reward mean: 3.3272 +num rollout transitions: 249343, 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rollout transitions: 249277, reward mean: 3.3297 +num rollout transitions: 249299, reward mean: 3.3446 +num rollout transitions: 249260, reward mean: 3.3231 +num rollout transitions: 249330, reward mean: 3.3393 +num rollout transitions: 249326, reward mean: 3.3435 +num rollout transitions: 249236, reward mean: 3.3354 +num rollout transitions: 249242, reward mean: 3.3300 +num rollout transitions: 249343, reward mean: 3.3744 +num rollout transitions: 249283, reward mean: 3.3515 +num rollout transitions: 249343, reward mean: 3.3532 +num rollout transitions: 249376, reward mean: 3.3293 +num rollout transitions: 249349, reward mean: 3.3511 +num rollout transitions: 249242, reward mean: 3.3330 +num rollout transitions: 249258, reward mean: 3.3407 +num rollout transitions: 249338, reward mean: 3.3447 +num rollout transitions: 249264, reward mean: 3.3227 +num rollout transitions: 249268, reward mean: 3.3419 +num rollout transitions: 249340, reward mean: 3.3358 +num rollout transitions: 249316, 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| +| rollout_info/dynamics_penalty_std | 0.0703 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249329, reward mean: 3.3248 +num rollout transitions: 249293, reward mean: 3.3471 +num rollout transitions: 249316, reward mean: 3.3363 +num rollout transitions: 249208, reward mean: 3.3229 +num rollout transitions: 249317, reward mean: 3.3233 +num rollout transitions: 249334, reward mean: 3.3238 +num rollout transitions: 249258, reward mean: 3.3370 +num rollout transitions: 249297, reward mean: 3.3245 +num rollout transitions: 249297, reward mean: 3.3217 +num rollout transitions: 249408, reward mean: 3.3408 +num rollout transitions: 249302, reward mean: 3.3455 +num rollout transitions: 249400, reward mean: 3.3468 +num rollout transitions: 249371, reward mean: 3.3426 +num rollout transitions: 249365, reward mean: 3.3484 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.0238 | +| eval/episode_length | 131 | +| eval/episode_length_std | 87.3 | +| eval/normalized_episode_reward | 11.1 | +| eval/normalized_episode_reward_std | 10.8 | +| loss/actor | -311 | +| loss/alpha | 0.0258 | +| loss/critic | 3.69 | +| penalty/lcb_mean | 0.194 | +| penalty/lcb_std | 0.396 | +| rollout_info/dynamics_penalty_mean | 0.00459 | +| rollout_info/dynamics_penalty_std | 0.0674 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249402, reward mean: 3.3302 +num rollout transitions: 249383, reward mean: 3.3470 +num rollout transitions: 249358, reward mean: 3.3449 +num rollout transitions: 249258, reward mean: 3.3493 +num rollout transitions: 249449, reward mean: 3.3517 +num rollout transitions: 249326, reward mean: 3.3524 +num rollout transitions: 249218, reward mean: 3.3844 +num rollout transitions: 249296, reward mean: 3.3708 +num rollout transitions: 249364, reward mean: 3.3671 +num rollout transitions: 249322, reward mean: 3.3318 +num rollout transitions: 249336, reward mean: 3.3211 +num rollout transitions: 249281, reward mean: 3.3611 +num rollout transitions: 249361, reward mean: 3.3514 +num rollout transitions: 249324, reward mean: 3.3443 +num rollout transitions: 249203, reward mean: 3.3483 +num rollout transitions: 249260, reward mean: 3.3402 +num rollout transitions: 249276, reward mean: 3.3194 +num rollout transitions: 249287, reward mean: 3.3412 +num rollout transitions: 249298, reward mean: 3.3517 +num rollout transitions: 249349, reward mean: 3.3477 +num rollout transitions: 249363, reward mean: 3.3527 +num rollout transitions: 249292, reward mean: 3.3592 +num rollout transitions: 249410, reward mean: 3.3473 +num rollout transitions: 249236, reward mean: 3.3555 +num rollout transitions: 249300, reward mean: 3.3459 +num rollout transitions: 249321, reward mean: 3.3470 +num rollout transitions: 249360, reward mean: 3.3418 +num rollout transitions: 249316, reward mean: 3.3469 +num rollout transitions: 249240, reward mean: 3.3317 +num rollout transitions: 249323, reward mean: 3.3332 +num rollout transitions: 249320, reward mean: 3.3302 +num rollout transitions: 249346, reward mean: 3.3288 +num rollout transitions: 249335, reward mean: 3.3372 +num rollout transitions: 249228, reward mean: 3.3587 +num rollout transitions: 249439, reward mean: 3.3384 +num rollout transitions: 249346, reward mean: 3.3603 +num rollout transitions: 249352, reward mean: 3.3367 +num rollout transitions: 249343, reward mean: 3.3404 +num rollout transitions: 249329, reward mean: 3.3527 +num rollout transitions: 249320, reward mean: 3.3451 +num rollout transitions: 249353, reward mean: 3.3414 +num rollout transitions: 249350, reward mean: 3.3456 +num rollout transitions: 249328, reward 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transitions: 249405, reward mean: 3.3304 +num rollout transitions: 249291, reward mean: 3.3702 +num rollout transitions: 249209, reward mean: 3.3380 +num rollout transitions: 249423, reward mean: 3.3470 +num rollout transitions: 249246, reward mean: 3.3362 +num rollout transitions: 249304, reward mean: 3.3323 +num rollout transitions: 249329, reward mean: 3.3426 +num rollout transitions: 249359, reward mean: 3.3407 +num rollout transitions: 249383, reward mean: 3.3418 +num rollout transitions: 249292, reward mean: 3.3377 +num rollout transitions: 249345, reward mean: 3.3370 +num rollout transitions: 249401, reward mean: 3.3381 +num rollout transitions: 249311, reward mean: 3.3239 +num rollout transitions: 249388, reward mean: 3.3472 +num rollout transitions: 249353, reward mean: 3.3526 +---------------------------------------------------------------------------------- +| alpha | 0.0228 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.778 | +| loss/actor | -313 | +| loss/alpha | -0.0128 | +| loss/critic | 3.2 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.384 | +| rollout_info/dynamics_penalty_mean | 0.00431 | +| rollout_info/dynamics_penalty_std | 0.0652 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249299, reward mean: 3.3406 +num rollout transitions: 249365, reward mean: 3.3452 +num rollout transitions: 249267, reward mean: 3.3345 +num rollout transitions: 249289, reward mean: 3.3459 +num rollout transitions: 249333, reward mean: 3.3352 +num rollout transitions: 249364, reward mean: 3.3321 +num rollout transitions: 249232, reward mean: 3.3298 +num rollout transitions: 249398, reward mean: 3.3301 +num rollout transitions: 249297, reward mean: 3.3204 +num rollout transitions: 249295, 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reward mean: 3.3456 +num rollout transitions: 249280, reward mean: 3.3462 +num rollout transitions: 249326, reward mean: 3.3288 +num rollout transitions: 249324, reward mean: 3.3242 +---------------------------------------------------------------------------------- +| alpha | 0.0227 | +| eval/episode_length | 201 | +| eval/episode_length_std | 0.837 | +| eval/normalized_episode_reward | 18.4 | +| eval/normalized_episode_reward_std | 0.692 | +| loss/actor | -312 | +| loss/alpha | 0.0144 | +| loss/critic | 3.74 | +| penalty/lcb_mean | 0.186 | +| penalty/lcb_std | 0.381 | +| rollout_info/dynamics_penalty_mean | 0.00437 | +| rollout_info/dynamics_penalty_std | 0.0657 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249327, reward mean: 3.3325 +num rollout transitions: 249356, reward mean: 3.3177 +num rollout transitions: 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+---------------------------------------------------------------------------------- +| alpha | 0.0228 | +| eval/episode_length | 968 | +| eval/episode_length_std | 134 | +| eval/normalized_episode_reward | 109 | +| eval/normalized_episode_reward_std | 16.1 | +| loss/actor | -312 | +| loss/alpha | -0.00266 | +| loss/critic | 2.75 | +| penalty/lcb_mean | 0.189 | +| penalty/lcb_std | 0.393 | +| rollout_info/dynamics_penalty_mean | 0.00404 | +| rollout_info/dynamics_penalty_std | 0.0632 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249316, reward mean: 3.3317 +num rollout transitions: 249391, reward mean: 3.3368 +num rollout transitions: 249299, reward mean: 3.3279 +num rollout transitions: 249208, reward mean: 3.3135 +num rollout transitions: 249272, reward mean: 3.3814 +num rollout transitions: 249343, reward mean: 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mean: 3.3312 +num rollout transitions: 249266, reward mean: 3.3178 +num rollout transitions: 249376, reward mean: 3.3557 +num rollout transitions: 249276, reward mean: 3.3318 +num rollout transitions: 249315, reward mean: 3.3256 +num rollout transitions: 249262, reward mean: 3.3347 +num rollout transitions: 249355, reward mean: 3.3280 +num rollout transitions: 249298, reward mean: 3.3327 +---------------------------------------------------------------------------------- +| alpha | 0.0234 | +| eval/episode_length | 762 | +| eval/episode_length_std | 229 | +| eval/normalized_episode_reward | 85.5 | +| eval/normalized_episode_reward_std | 27.5 | +| loss/actor | -311 | +| loss/alpha | 0.0126 | +| loss/critic | 4.15 | +| penalty/lcb_mean | 0.195 | +| penalty/lcb_std | 0.405 | +| rollout_info/dynamics_penalty_mean | 0.0041 | +| rollout_info/dynamics_penalty_std | 0.0637 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1400000 | 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| 112 | +| eval/normalized_episode_reward_std | 0.739 | +| loss/actor | -311 | +| loss/alpha | 0.00373 | +| loss/critic | 3.68 | +| penalty/lcb_mean | 0.197 | +| penalty/lcb_std | 0.409 | +| rollout_info/dynamics_penalty_mean | 0.00421 | +| rollout_info/dynamics_penalty_std | 0.0645 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249298, reward mean: 3.3448 +num rollout transitions: 249265, reward mean: 3.3370 +num rollout transitions: 249217, reward mean: 3.3534 +num rollout transitions: 249268, reward mean: 3.3342 +num rollout transitions: 249313, reward mean: 3.3485 +num rollout transitions: 249375, reward mean: 3.3402 +num rollout transitions: 249352, reward mean: 3.3359 +num rollout transitions: 249409, reward mean: 3.3314 +num rollout transitions: 249400, reward mean: 3.3234 +num rollout transitions: 249334, 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reward mean: 3.3351 +num rollout transitions: 249325, reward mean: 3.3466 +num rollout transitions: 249275, reward mean: 3.3346 +num rollout transitions: 249290, reward mean: 3.3448 +---------------------------------------------------------------------------------- +| alpha | 0.0225 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.744 | +| loss/actor | -311 | +| loss/alpha | -0.0197 | +| loss/critic | 2.93 | +| penalty/lcb_mean | 0.201 | +| penalty/lcb_std | 0.417 | +| rollout_info/dynamics_penalty_mean | 0.00455 | +| rollout_info/dynamics_penalty_std | 0.0671 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249299, reward mean: 3.3523 +num rollout transitions: 249365, reward mean: 3.3370 +num rollout transitions: 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0.0043 | +| rollout_info/dynamics_penalty_std | 0.0652 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249285, reward mean: 3.3264 +num rollout transitions: 249259, reward mean: 3.3226 +num rollout transitions: 249313, reward mean: 3.3365 +num rollout transitions: 249289, reward mean: 3.3342 +num rollout transitions: 249385, reward mean: 3.3393 +num rollout transitions: 249325, reward mean: 3.3384 +num rollout transitions: 249408, reward mean: 3.3445 +num rollout transitions: 249323, reward mean: 3.3438 +num rollout transitions: 249400, reward mean: 3.3269 +num rollout transitions: 249321, reward mean: 3.3273 +num rollout transitions: 249323, reward mean: 3.3693 +num rollout transitions: 249308, reward mean: 3.3288 +num rollout transitions: 249274, reward mean: 3.3409 +num rollout transitions: 249293, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0225 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.708 | +| loss/actor | -310 | +| loss/alpha | -0.00903 | +| loss/critic | 3.28 | +| penalty/lcb_mean | 0.205 | +| penalty/lcb_std | 0.429 | +| rollout_info/dynamics_penalty_mean | 0.00412 | +| rollout_info/dynamics_penalty_std | 0.0638 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249296, reward mean: 3.3357 +num rollout transitions: 249262, reward mean: 3.3293 +num rollout transitions: 249318, reward mean: 3.3392 +num rollout transitions: 249358, reward mean: 3.3310 +num rollout transitions: 249357, reward mean: 3.3359 +num rollout transitions: 249269, reward mean: 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transitions: 249334, reward mean: 3.3355 +num rollout transitions: 249384, reward mean: 3.3389 +num rollout transitions: 249317, reward mean: 3.3359 +num rollout transitions: 249336, reward mean: 3.3232 +num rollout transitions: 249319, reward mean: 3.3096 +num rollout transitions: 249421, reward mean: 3.3197 +num rollout transitions: 249326, reward mean: 3.3165 +num rollout transitions: 249309, reward mean: 3.3337 +num rollout transitions: 249343, reward mean: 3.3357 +num rollout transitions: 249303, reward mean: 3.3562 +num rollout transitions: 249247, reward mean: 3.3392 +num rollout transitions: 249294, reward mean: 3.3396 +num rollout transitions: 249351, reward mean: 3.3223 +num rollout transitions: 249321, reward mean: 3.3270 +num rollout transitions: 249344, reward mean: 3.3277 +---------------------------------------------------------------------------------- +| alpha | 0.023 | +| eval/episode_length | 991 | +| eval/episode_length_std | 86.1 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 10.7 | +| loss/actor | -310 | +| loss/alpha | -0.00998 | +| loss/critic | 3.48 | +| penalty/lcb_mean | 0.212 | +| penalty/lcb_std | 0.443 | +| rollout_info/dynamics_penalty_mean | 0.00423 | +| rollout_info/dynamics_penalty_std | 0.0647 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249370, reward mean: 3.3320 +num rollout transitions: 249356, reward mean: 3.3302 +num rollout transitions: 249283, reward mean: 3.3472 +num rollout transitions: 249328, reward mean: 3.3266 +num rollout transitions: 249306, reward mean: 3.3466 +num rollout transitions: 249364, reward mean: 3.3333 +num rollout transitions: 249264, reward mean: 3.3405 +num rollout transitions: 249307, reward mean: 3.3323 +num rollout transitions: 249370, reward mean: 3.3213 +num rollout transitions: 249311, 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reward mean: 3.3259 +num rollout transitions: 249376, reward mean: 3.3524 +num rollout transitions: 249314, reward mean: 3.3433 +num rollout transitions: 249314, reward mean: 3.3379 +---------------------------------------------------------------------------------- +| alpha | 0.0225 | +| eval/episode_length | 156 | +| eval/episode_length_std | 0.752 | +| eval/normalized_episode_reward | 13.9 | +| eval/normalized_episode_reward_std | 0.694 | +| loss/actor | -310 | +| loss/alpha | 0.0118 | +| loss/critic | 3.39 | +| penalty/lcb_mean | 0.211 | +| penalty/lcb_std | 0.443 | +| rollout_info/dynamics_penalty_mean | 0.00405 | +| rollout_info/dynamics_penalty_std | 0.0633 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249297, reward mean: 3.3309 +num rollout transitions: 249293, reward mean: 3.3266 +num rollout transitions: 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0.00459 | +| rollout_info/dynamics_penalty_std | 0.0673 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249207, reward mean: 3.3464 +num rollout transitions: 249339, reward mean: 3.3327 +num rollout transitions: 249274, reward mean: 3.3320 +num rollout transitions: 249260, reward mean: 3.3228 +num rollout transitions: 249314, reward mean: 3.3179 +num rollout transitions: 249295, reward mean: 3.3488 +num rollout transitions: 249340, reward mean: 3.3461 +num rollout transitions: 249336, reward mean: 3.3548 +num rollout transitions: 249324, reward mean: 3.3372 +num rollout transitions: 249297, reward mean: 3.3456 +num rollout transitions: 249345, reward mean: 3.3364 +num rollout transitions: 249277, reward mean: 3.3215 +num rollout transitions: 249268, reward mean: 3.3275 +num rollout transitions: 249348, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0233 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.735 | +| loss/actor | -309 | +| loss/alpha | -0.0193 | +| loss/critic | 3.7 | +| penalty/lcb_mean | 0.214 | +| penalty/lcb_std | 0.45 | +| rollout_info/dynamics_penalty_mean | 0.00472 | +| rollout_info/dynamics_penalty_std | 0.0684 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 1850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249312, reward mean: 3.3377 +num rollout transitions: 249296, reward mean: 3.3359 +num rollout transitions: 249377, reward mean: 3.3169 +num rollout transitions: 249263, reward mean: 3.3181 +num rollout transitions: 249365, reward mean: 3.3472 +num rollout transitions: 249321, reward mean: 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transitions: 249303, reward mean: 3.3219 +num rollout transitions: 249333, reward mean: 3.3269 +num rollout transitions: 249324, reward mean: 3.3456 +num rollout transitions: 249270, reward mean: 3.3297 +num rollout transitions: 249302, reward mean: 3.3159 +num rollout transitions: 249376, reward mean: 3.3139 +num rollout transitions: 249323, reward mean: 3.3422 +num rollout transitions: 249327, reward mean: 3.3382 +num rollout transitions: 249298, reward mean: 3.3350 +num rollout transitions: 249261, reward mean: 3.3285 +num rollout transitions: 249265, reward mean: 3.3351 +num rollout transitions: 249289, reward mean: 3.3256 +num rollout transitions: 249303, reward mean: 3.3358 +num rollout transitions: 249325, reward mean: 3.3254 +num rollout transitions: 249290, reward mean: 3.3399 +---------------------------------------------------------------------------------- +| alpha | 0.0229 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.727 | +| loss/actor | -309 | +| loss/alpha | 0.00425 | +| loss/critic | 3.28 | +| penalty/lcb_mean | 0.213 | +| penalty/lcb_std | 0.449 | +| rollout_info/dynamics_penalty_mean | 0.00428 | +| rollout_info/dynamics_penalty_std | 0.0651 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 1950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249275, reward mean: 3.3324 +num rollout transitions: 249267, reward mean: 3.3195 +num rollout transitions: 249317, reward mean: 3.3231 +num rollout transitions: 249357, reward mean: 3.3197 +num rollout transitions: 249410, reward mean: 3.3214 +num rollout transitions: 249293, reward mean: 3.3273 +num rollout transitions: 249286, reward mean: 3.3351 +num rollout transitions: 249252, reward mean: 3.3205 +num rollout transitions: 249361, reward mean: 3.3330 +num rollout transitions: 249277, 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reward mean: 3.3217 +num rollout transitions: 249359, reward mean: 3.3270 +num rollout transitions: 249340, reward mean: 3.3283 +num rollout transitions: 249350, reward mean: 3.3275 +---------------------------------------------------------------------------------- +| alpha | 0.0228 | +| eval/episode_length | 129 | +| eval/episode_length_std | 0.968 | +| eval/normalized_episode_reward | 10.9 | +| eval/normalized_episode_reward_std | 0.711 | +| loss/actor | -309 | +| loss/alpha | 0.00179 | +| loss/critic | 3.71 | +| penalty/lcb_mean | 0.219 | +| penalty/lcb_std | 0.465 | +| rollout_info/dynamics_penalty_mean | 0.00427 | +| rollout_info/dynamics_penalty_std | 0.065 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2000000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249346, reward mean: 3.3312 +num rollout transitions: 249384, reward mean: 3.3335 +num rollout transitions: 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0.00439 | +| rollout_info/dynamics_penalty_std | 0.0659 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2050000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249293, reward mean: 3.3355 +num rollout transitions: 249330, reward mean: 3.3470 +num rollout transitions: 249320, reward mean: 3.3492 +num rollout transitions: 249309, reward mean: 3.3193 +num rollout transitions: 249354, reward mean: 3.3435 +num rollout transitions: 249256, reward mean: 3.3330 +num rollout transitions: 249386, reward mean: 3.3169 +num rollout transitions: 249285, reward mean: 3.3107 +num rollout transitions: 249270, reward mean: 3.3260 +num rollout transitions: 249359, reward mean: 3.3388 +num rollout transitions: 249302, reward mean: 3.3399 +num rollout transitions: 249327, reward mean: 3.3418 +num rollout transitions: 249326, reward mean: 3.3355 +num rollout transitions: 249283, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0245 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 112 | +| eval/normalized_episode_reward_std | 0.734 | +| loss/actor | -307 | +| loss/alpha | 0.0105 | +| loss/critic | 5.14 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.471 | +| rollout_info/dynamics_penalty_mean | 0.00459 | +| rollout_info/dynamics_penalty_std | 0.0673 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2100000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249341, reward mean: 3.3285 +num rollout transitions: 249249, reward mean: 3.3227 +num rollout transitions: 249425, reward mean: 3.3277 +num rollout transitions: 249300, reward mean: 3.3297 +num rollout transitions: 249369, reward mean: 3.3384 +num rollout transitions: 249325, reward mean: 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| 112 | +| eval/normalized_episode_reward_std | 0.781 | +| loss/actor | -307 | +| loss/alpha | 0.0602 | +| loss/critic | 4.99 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.475 | +| rollout_info/dynamics_penalty_mean | 0.00455 | +| rollout_info/dynamics_penalty_std | 0.0671 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2200000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249301, reward mean: 3.3343 +num rollout transitions: 249285, reward mean: 3.3256 +num rollout transitions: 249335, reward mean: 3.3354 +num rollout transitions: 249394, reward mean: 3.3274 +num rollout transitions: 249344, reward mean: 3.3367 +num rollout transitions: 249294, reward mean: 3.3438 +num rollout transitions: 249279, reward mean: 3.3320 +num rollout transitions: 249272, reward mean: 3.3307 +num rollout transitions: 249359, reward mean: 3.3378 +num rollout transitions: 249306, 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reward mean: 3.3266 +num rollout transitions: 249338, reward mean: 3.3312 +num rollout transitions: 249327, reward mean: 3.3249 +num rollout transitions: 249348, reward mean: 3.3364 +---------------------------------------------------------------------------------- +| alpha | 0.0234 | +| eval/episode_length | 704 | +| eval/episode_length_std | 412 | +| eval/normalized_episode_reward | 77.9 | +| eval/normalized_episode_reward_std | 48.6 | +| loss/actor | -307 | +| loss/alpha | -0.0461 | +| loss/critic | 2.91 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.476 | +| rollout_info/dynamics_penalty_mean | 0.00476 | +| rollout_info/dynamics_penalty_std | 0.0686 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2250000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249305, reward mean: 3.3356 +num rollout transitions: 249306, reward mean: 3.3428 +num rollout transitions: 249403, reward mean: 3.3459 +num rollout transitions: 249312, reward mean: 3.3303 +num rollout transitions: 249359, reward mean: 3.3307 +num rollout transitions: 249337, reward mean: 3.3231 +num rollout transitions: 249257, reward mean: 3.3315 +num rollout transitions: 249359, reward mean: 3.3183 +num rollout transitions: 249346, reward mean: 3.3289 +num rollout transitions: 249324, reward mean: 3.3248 +num rollout transitions: 249239, reward mean: 3.3443 +num rollout transitions: 249347, reward mean: 3.3380 +num rollout transitions: 249317, reward mean: 3.3179 +num rollout transitions: 249273, reward mean: 3.3356 +num rollout transitions: 249250, reward mean: 3.3279 +num rollout transitions: 249338, reward mean: 3.3274 +num rollout transitions: 249252, reward mean: 3.3373 +num rollout transitions: 249341, reward mean: 3.3272 +num rollout transitions: 249330, reward mean: 3.3334 +num rollout transitions: 249318, reward mean: 3.3424 +num rollout transitions: 249336, reward mean: 3.3404 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249291, reward mean: 3.3450 +num rollout transitions: 249323, reward mean: 3.3278 +num rollout transitions: 249286, reward mean: 3.3337 +num rollout transitions: 249371, reward mean: 3.3214 +num rollout transitions: 249331, reward mean: 3.3266 +num rollout transitions: 249370, reward mean: 3.3346 +num rollout transitions: 249380, reward mean: 3.3329 +num rollout transitions: 249272, reward mean: 3.3361 +num rollout transitions: 249274, reward mean: 3.3467 +num rollout transitions: 249255, reward mean: 3.3227 +num rollout transitions: 249370, reward mean: 3.3509 +---------------------------------------------------------------------------------- +| alpha | 0.0231 | +| eval/episode_length | 174 | +| eval/episode_length_std | 120 | +| eval/normalized_episode_reward | 16 | +| eval/normalized_episode_reward_std | 14.7 | +| loss/actor | -307 | +| loss/alpha | 0.00311 | +| loss/critic | 3.58 | +| penalty/lcb_mean | 0.221 | +| penalty/lcb_std | 0.47 | +| rollout_info/dynamics_penalty_mean | 0.00466 | +| rollout_info/dynamics_penalty_std | 0.0679 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2300000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249289, reward mean: 3.3331 +num rollout transitions: 249264, reward mean: 3.3322 +num rollout transitions: 249303, reward mean: 3.3277 +num rollout transitions: 249315, reward mean: 3.3358 +num rollout transitions: 249401, reward mean: 3.3380 +num rollout transitions: 249392, reward mean: 3.3361 +num rollout transitions: 249359, reward mean: 3.3200 +num rollout transitions: 249274, reward mean: 3.3372 +num rollout transitions: 249253, reward mean: 3.3306 +num rollout transitions: 249404, reward mean: 3.3412 +num rollout transitions: 249366, reward mean: 3.3349 +num rollout transitions: 249304, reward mean: 3.3374 +num rollout transitions: 249326, reward mean: 3.3382 +num rollout transitions: 249344, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0231 | +| eval/episode_length | 875 | +| eval/episode_length_std | 282 | +| eval/normalized_episode_reward | 98.1 | +| eval/normalized_episode_reward_std | 33.5 | +| loss/actor | -307 | +| loss/alpha | -0.00257 | +| loss/critic | 3.19 | +| penalty/lcb_mean | 0.222 | +| penalty/lcb_std | 0.475 | +| rollout_info/dynamics_penalty_mean | 0.00456 | +| rollout_info/dynamics_penalty_std | 0.0672 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2350000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249347, reward mean: 3.3325 +num rollout transitions: 249363, reward mean: 3.3439 +num rollout transitions: 249300, reward mean: 3.3163 +num rollout transitions: 249371, reward mean: 3.3262 +num rollout transitions: 249321, reward mean: 3.3282 +num rollout transitions: 249359, reward mean: 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transitions: 249272, reward mean: 3.3286 +num rollout transitions: 249279, reward mean: 3.3358 +num rollout transitions: 249391, reward mean: 3.3267 +num rollout transitions: 249392, reward mean: 3.3201 +num rollout transitions: 249267, reward mean: 3.3299 +num rollout transitions: 249338, reward mean: 3.3338 +num rollout transitions: 249363, reward mean: 3.3330 +num rollout transitions: 249284, reward mean: 3.3316 +num rollout transitions: 249310, reward mean: 3.3363 +num rollout transitions: 249312, reward mean: 3.3280 +num rollout transitions: 249338, reward mean: 3.3407 +num rollout transitions: 249306, reward mean: 3.3226 +num rollout transitions: 249206, reward mean: 3.3417 +num rollout transitions: 249338, reward mean: 3.3355 +num rollout transitions: 249309, reward mean: 3.3365 +---------------------------------------------------------------------------------- +| alpha | 0.0221 | +| eval/episode_length | 678 | +| eval/episode_length_std | 403 | +| eval/normalized_episode_reward | 75.1 | +| eval/normalized_episode_reward_std | 47.8 | +| loss/actor | -308 | +| loss/alpha | -0.00559 | +| loss/critic | 3.35 | +| penalty/lcb_mean | 0.22 | +| penalty/lcb_std | 0.47 | +| rollout_info/dynamics_penalty_mean | 0.00426 | +| rollout_info/dynamics_penalty_std | 0.065 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2450000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249297, reward mean: 3.3272 +num rollout transitions: 249251, reward mean: 3.3337 +num rollout transitions: 249336, reward mean: 3.3291 +num rollout transitions: 249376, reward mean: 3.3355 +num rollout transitions: 249313, reward mean: 3.3241 +num rollout transitions: 249251, reward mean: 3.3287 +num rollout transitions: 249297, reward mean: 3.3328 +num rollout transitions: 249270, reward mean: 3.3323 +num rollout transitions: 249364, reward mean: 3.3346 +num rollout transitions: 249366, reward 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mean: 3.3246 +num rollout transitions: 249297, reward mean: 3.3251 +num rollout transitions: 249258, reward mean: 3.3310 +num rollout transitions: 249318, reward mean: 3.3340 +---------------------------------------------------------------------------------- +| alpha | 0.0219 | +| eval/episode_length | 1e+03 | +| eval/episode_length_std | 0 | +| eval/normalized_episode_reward | 113 | +| eval/normalized_episode_reward_std | 0.765 | +| loss/actor | -308 | +| loss/alpha | 0.00884 | +| loss/critic | 3.31 | +| penalty/lcb_mean | 0.219 | +| penalty/lcb_std | 0.47 | +| rollout_info/dynamics_penalty_mean | 0.00468 | +| rollout_info/dynamics_penalty_std | 0.0681 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2500000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249288, reward mean: 3.3321 +num rollout transitions: 249346, reward mean: 3.3291 +num rollout transitions: 249272, 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reward mean: 3.3335 +num rollout transitions: 249387, reward mean: 3.3377 +num rollout transitions: 249288, reward mean: 3.3345 +num rollout transitions: 249350, reward mean: 3.3340 +num rollout transitions: 249349, reward mean: 3.3424 +num rollout transitions: 249342, reward mean: 3.3417 +num rollout transitions: 249281, reward mean: 3.3364 +num rollout transitions: 249353, reward mean: 3.3439 +num rollout transitions: 249290, reward mean: 3.3407 +num rollout transitions: 249358, reward mean: 3.3493 +num rollout transitions: 249340, reward mean: 3.3370 +---------------------------------------------------------------------------------- +| alpha | 0.0226 | +| eval/episode_length | 297 | +| eval/episode_length_std | 284 | +| eval/normalized_episode_reward | 30.3 | +| eval/normalized_episode_reward_std | 33.7 | +| loss/actor | -307 | +| loss/alpha | 0.0038 | +| loss/critic | 3.58 | +| penalty/lcb_mean | 0.224 | +| penalty/lcb_std | 0.479 | +| rollout_info/dynamics_penalty_mean | 0.00453 | +| rollout_info/dynamics_penalty_std | 0.067 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.34 | +| timestep | 2550000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249290, reward mean: 3.3337 +num rollout transitions: 249312, reward mean: 3.3278 +num rollout transitions: 249268, reward mean: 3.3132 +num rollout transitions: 249282, reward mean: 3.3241 +num rollout transitions: 249271, reward mean: 3.3286 +num rollout transitions: 249246, reward mean: 3.3216 +num rollout transitions: 249207, reward mean: 3.3306 +num rollout transitions: 249307, reward mean: 3.3222 +num rollout transitions: 249305, reward mean: 3.3228 +num rollout transitions: 249349, reward mean: 3.3174 +num rollout transitions: 249326, reward mean: 3.3268 +num rollout transitions: 249318, reward mean: 3.3229 +num rollout transitions: 249327, reward mean: 3.3308 +num rollout transitions: 249316, reward mean: 3.3224 +num 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+---------------------------------------------------------------------------------- +| alpha | 0.0221 | +| eval/episode_length | 586 | +| eval/episode_length_std | 440 | +| eval/normalized_episode_reward | 64.5 | +| eval/normalized_episode_reward_std | 52.1 | +| loss/actor | -307 | +| loss/alpha | -0.0042 | +| loss/critic | 3.46 | +| penalty/lcb_mean | 0.225 | +| penalty/lcb_std | 0.479 | +| rollout_info/dynamics_penalty_mean | 0.00456 | +| rollout_info/dynamics_penalty_std | 0.0673 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2600000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249352, reward mean: 3.3306 +num rollout transitions: 249311, reward mean: 3.3182 +num rollout transitions: 249327, reward mean: 3.3322 +num rollout transitions: 249235, reward mean: 3.3351 +num rollout transitions: 249334, reward mean: 3.3352 +num rollout transitions: 249302, reward mean: 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transitions: 249329, reward mean: 3.3342 +num rollout transitions: 249330, reward mean: 3.3252 +num rollout transitions: 249354, reward mean: 3.3190 +num rollout transitions: 249300, reward mean: 3.3234 +num rollout transitions: 249278, reward mean: 3.3287 +num rollout transitions: 249328, reward mean: 3.3312 +num rollout transitions: 249367, reward mean: 3.3368 +num rollout transitions: 249400, reward mean: 3.3303 +num rollout transitions: 249300, reward mean: 3.3246 +num rollout transitions: 249269, reward mean: 3.3280 +num rollout transitions: 249350, reward mean: 3.3330 +num rollout transitions: 249395, reward mean: 3.3374 +num rollout transitions: 249328, reward mean: 3.3316 +num rollout transitions: 249374, reward mean: 3.3292 +num rollout transitions: 249344, reward mean: 3.3311 +---------------------------------------------------------------------------------- +| alpha | 0.0214 | +| eval/episode_length | 250 | +| eval/episode_length_std | 315 | +| eval/normalized_episode_reward | 25.1 | +| eval/normalized_episode_reward_std | 37.4 | +| loss/actor | -307 | +| loss/alpha | -0.00655 | +| loss/critic | 3.12 | +| penalty/lcb_mean | 0.226 | +| penalty/lcb_std | 0.485 | +| rollout_info/dynamics_penalty_mean | 0.00438 | +| rollout_info/dynamics_penalty_std | 0.0659 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2700000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249361, reward mean: 3.3278 +num rollout transitions: 249323, reward mean: 3.3314 +num rollout transitions: 249356, reward mean: 3.3278 +num rollout transitions: 249296, reward mean: 3.3244 +num rollout transitions: 249358, reward mean: 3.3251 +num rollout transitions: 249381, reward mean: 3.3276 +num rollout transitions: 249408, reward mean: 3.3335 +num rollout transitions: 249223, reward mean: 3.3316 +num rollout transitions: 249335, reward mean: 3.3229 +num rollout transitions: 249342, 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reward mean: 3.3259 +num rollout transitions: 249279, reward mean: 3.3352 +num rollout transitions: 249286, reward mean: 3.3337 +num rollout transitions: 249305, reward mean: 3.3344 +---------------------------------------------------------------------------------- +| alpha | 0.0213 | +| eval/episode_length | 984 | +| eval/episode_length_std | 112 | +| eval/normalized_episode_reward | 111 | +| eval/normalized_episode_reward_std | 13.8 | +| loss/actor | -307 | +| loss/alpha | 0.0199 | +| loss/critic | 3.25 | +| penalty/lcb_mean | 0.231 | +| penalty/lcb_std | 0.497 | +| rollout_info/dynamics_penalty_mean | 0.00457 | +| rollout_info/dynamics_penalty_std | 0.0673 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2750000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249283, reward mean: 3.3278 +num rollout transitions: 249367, reward mean: 3.3148 +num rollout transitions: 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0.00472 | +| rollout_info/dynamics_penalty_std | 0.0684 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2800000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249287, reward mean: 3.3231 +num rollout transitions: 249242, reward mean: 3.3296 +num rollout transitions: 249272, reward mean: 3.3331 +num rollout transitions: 249383, reward mean: 3.3312 +num rollout transitions: 249297, reward mean: 3.3371 +num rollout transitions: 249287, reward mean: 3.3280 +num rollout transitions: 249344, reward mean: 3.3329 +num rollout transitions: 249304, reward mean: 3.3249 +num rollout transitions: 249373, reward mean: 3.3345 +num rollout transitions: 249336, reward mean: 3.3311 +num rollout transitions: 249376, reward mean: 3.3288 +num rollout transitions: 249362, reward mean: 3.3287 +num rollout transitions: 249369, reward mean: 3.3261 +num rollout transitions: 249320, reward mean: 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+---------------------------------------------------------------------------------- +| alpha | 0.0215 | +| eval/episode_length | 117 | +| eval/episode_length_std | 0.993 | +| eval/normalized_episode_reward | 9.62 | +| eval/normalized_episode_reward_std | 0.717 | +| loss/actor | -306 | +| loss/alpha | 0.0105 | +| loss/critic | 3.57 | +| penalty/lcb_mean | 0.233 | +| penalty/lcb_std | 0.503 | +| rollout_info/dynamics_penalty_mean | 0.00442 | +| rollout_info/dynamics_penalty_std | 0.0662 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2850000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249370, reward mean: 3.3238 +num rollout transitions: 249298, reward mean: 3.3197 +num rollout transitions: 249306, reward mean: 3.3214 +num rollout transitions: 249306, reward mean: 3.3311 +num rollout transitions: 249191, reward mean: 3.3310 +num rollout transitions: 249299, reward mean: 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mean: 3.3217 +num rollout transitions: 249367, reward mean: 3.3328 +num rollout transitions: 249278, reward mean: 3.3269 +num rollout transitions: 249351, reward mean: 3.3285 +num rollout transitions: 249360, reward mean: 3.3320 +num rollout transitions: 249243, reward mean: 3.3285 +num rollout transitions: 249312, reward mean: 3.3267 +num rollout transitions: 249259, reward mean: 3.3275 +---------------------------------------------------------------------------------- +| alpha | 0.0213 | +| eval/episode_length | 162 | +| eval/episode_length_std | 192 | +| eval/normalized_episode_reward | 14.9 | +| eval/normalized_episode_reward_std | 23.1 | +| loss/actor | -305 | +| loss/alpha | -0.0194 | +| loss/critic | 3.07 | +| penalty/lcb_mean | 0.235 | +| penalty/lcb_std | 0.507 | +| rollout_info/dynamics_penalty_mean | 0.00448 | +| rollout_info/dynamics_penalty_std | 0.0666 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2900000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249396, reward mean: 3.3334 +num rollout transitions: 249340, reward mean: 3.3274 +num rollout transitions: 249267, reward mean: 3.3330 +num rollout transitions: 249320, reward mean: 3.3241 +num rollout transitions: 249388, reward mean: 3.3194 +num rollout transitions: 249315, reward mean: 3.3260 +num rollout transitions: 249326, reward mean: 3.3246 +num rollout transitions: 249284, reward mean: 3.3304 +num rollout transitions: 249269, reward mean: 3.3273 +num rollout transitions: 249334, reward mean: 3.3241 +num rollout transitions: 249376, reward mean: 3.3193 +num rollout transitions: 249246, reward mean: 3.3283 +num rollout transitions: 249362, reward mean: 3.3273 +num rollout transitions: 249298, reward mean: 3.3323 +num rollout transitions: 249336, reward mean: 3.3303 +num rollout transitions: 249377, reward mean: 3.3238 +num rollout transitions: 249408, reward mean: 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transitions: 249300, reward mean: 3.3346 +num rollout transitions: 249361, reward mean: 3.3253 +num rollout transitions: 249335, reward mean: 3.3268 +num rollout transitions: 249272, reward mean: 3.3339 +num rollout transitions: 249310, reward mean: 3.3344 +num rollout transitions: 249332, reward mean: 3.3332 +num rollout transitions: 249293, reward mean: 3.3383 +num rollout transitions: 249327, reward mean: 3.3355 +num rollout transitions: 249269, reward mean: 3.3312 +num rollout transitions: 249348, reward mean: 3.3338 +num rollout transitions: 249276, reward mean: 3.3280 +num rollout transitions: 249314, reward mean: 3.3305 +num rollout transitions: 249304, reward mean: 3.3306 +num rollout transitions: 249398, reward mean: 3.3277 +num rollout transitions: 249365, reward mean: 3.3269 +---------------------------------------------------------------------------------- +| alpha | 0.0221 | +| eval/episode_length | 515 | +| eval/episode_length_std | 439 | +| eval/normalized_episode_reward | 56 | +| eval/normalized_episode_reward_std | 51.8 | +| loss/actor | -305 | +| loss/alpha | 0.00805 | +| loss/critic | 3.42 | +| penalty/lcb_mean | 0.24 | +| penalty/lcb_std | 0.516 | +| rollout_info/dynamics_penalty_mean | 0.00443 | +| rollout_info/dynamics_penalty_std | 0.0663 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 2950000 | +---------------------------------------------------------------------------------- +num rollout transitions: 249268, reward mean: 3.3271 +num rollout transitions: 249298, reward mean: 3.3332 +num rollout transitions: 249303, reward mean: 3.3296 +num rollout transitions: 249283, reward mean: 3.3289 +num rollout transitions: 249297, reward mean: 3.3366 +num rollout transitions: 249375, reward mean: 3.3311 +num rollout transitions: 249318, reward mean: 3.3291 +num rollout transitions: 249310, reward mean: 3.3269 +num rollout transitions: 249352, reward mean: 3.3303 +num rollout transitions: 249378, reward 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transitions: 249394, reward mean: 3.3250 +num rollout transitions: 249397, reward mean: 3.3276 +num rollout transitions: 249320, reward mean: 3.3266 +num rollout transitions: 249324, reward mean: 3.3233 +num rollout transitions: 249320, reward mean: 3.3305 +num rollout transitions: 249357, reward mean: 3.3264 +num rollout transitions: 249304, reward mean: 3.3282 +num rollout transitions: 249313, reward mean: 3.3332 +num rollout transitions: 249368, reward mean: 3.3274 +num rollout transitions: 249287, reward mean: 3.3291 +num rollout transitions: 249284, reward mean: 3.3297 +num rollout transitions: 249312, reward mean: 3.3256 +num rollout transitions: 249237, reward mean: 3.3295 +num rollout transitions: 249353, reward mean: 3.3309 +num rollout transitions: 249373, reward mean: 3.3300 +num rollout transitions: 249336, reward mean: 3.3324 +num rollout transitions: 249355, reward mean: 3.3330 +num rollout transitions: 249343, reward mean: 3.3341 +num rollout transitions: 249222, reward mean: 3.3279 +num rollout transitions: 249343, reward mean: 3.3298 +num rollout transitions: 249318, reward mean: 3.3291 +num rollout transitions: 249332, reward mean: 3.3246 +---------------------------------------------------------------------------------- +| alpha | 0.021 | +| eval/episode_length | 559 | +| eval/episode_length_std | 441 | +| eval/normalized_episode_reward | 61.2 | +| eval/normalized_episode_reward_std | 52 | +| loss/actor | -304 | +| loss/alpha | 0.026 | +| loss/critic | 3.6 | +| penalty/lcb_mean | 0.245 | +| penalty/lcb_std | 0.528 | +| rollout_info/dynamics_penalty_mean | 0.0044 | +| rollout_info/dynamics_penalty_std | 0.066 | +| rollout_info/num_transitions | 2.49e+05 | +| rollout_info/reward_mean | 3.33 | +| timestep | 3000000 | +---------------------------------------------------------------------------------- +total time: 117383.98s diff --git a/hopper_medium_expert_sparse/mobile_based/realnvp/seed_456×tamp_26-0319-223848/record/dynamics_training_progress.csv b/hopper_medium_expert_sparse/mobile_based/realnvp/seed_456×tamp_26-0319-223848/record/dynamics_training_progress.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hopper_medium_expert_sparse/mobile_based/realnvp/seed_456×tamp_26-0319-223848/record/hyper_param.json b/hopper_medium_expert_sparse/mobile_based/realnvp/seed_456×tamp_26-0319-223848/record/hyper_param.json new file mode 100644 index 0000000000000000000000000000000000000000..53bf829e3e79dee97ea71c4d08f12e7920bb5feb --- /dev/null +++ b/hopper_medium_expert_sparse/mobile_based/realnvp/seed_456×tamp_26-0319-223848/record/hyper_param.json @@ -0,0 +1 @@ +{"config": "config_gormpo/hopper_medium_expert_7_realnvp.yaml", "algo_name": "mobile_gormpo", "task": "hopper-medium-expert-v2", "seed": 456, "device": "cuda:7", "dataset_path": "/public/d4rl/sparse_datasets/hopper_medium_expert_sparse_78.pkl", "dynamics_path": 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