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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_df_train.csv b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..875f8dc243946938b53c50d9ee9943de38e635c8
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_df_train.csv
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_eval.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee28b9e714cff74dde72c49a66c0a5f9add51968
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_eval.json
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_scalar_eval.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_scalar_eval.json
new file mode 100644
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_scalar_train.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_scalar_train.json
new file mode 100644
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_train.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0_session_metrics_train.json
new file mode 100644
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_df_eval.csv b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c9429c309306b2505baa5d1244aa1dfbd298b
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_df_eval.csv
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_df_train.csv b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c9429c309306b2505baa5d1244aa1dfbd298b
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_df_train.csv
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_eval.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59967a782b19746919eb88fcca23a3644d122cb
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_eval.json
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_scalar_eval.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_scalar_eval.json
new file mode 100644
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@@ -0,0 +1,9 @@
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_scalar_train.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_scalar_train.json
new file mode 100644
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@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_train.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59967a782b19746919eb88fcca23a3644d122cb
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_df_eval.csv b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2567936731e3a7f208fa895cc4e88cb232288be
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_df_eval.csv
@@ -0,0 +1,1001 @@
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_df_train.csv b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2567936731e3a7f208fa895cc4e88cb232288be
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_df_train.csv
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_eval.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cbc16cb630169b705f8b58a0dc2b96b951db1f9
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_eval.json
@@ -0,0 +1,7026 @@
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_scalar_eval.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_scalar_eval.json
new file mode 100644
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_scalar_train.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_scalar_train.json
new file mode 100644
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_train.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2_session_metrics_train.json
new file mode 100644
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diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_trial_metrics.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_trial_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..310cae2a044d068598bb0956cb42a5ddae2597a7
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_trial_metrics.json
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_trial_metrics_scalar.json b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_trial_metrics_scalar.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff592bb8f9c0eca49d763815d7c77b8335ba1e6
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/info/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_trial_metrics_scalar.json
@@ -0,0 +1,11 @@
+{
+  "frame": 100001792.0,
+  "total_reward_ma": 32.29274368286133,
+  "strength": 23.404653549194336,
+  "max_strength": 35.046207427978516,
+  "final_strength": 32.89065170288086,
+  "sample_efficiency": 2.258929576726132e-08,
+  "training_efficiency": 1.1575110875128303e-05,
+  "stability": 0.9762973189353943,
+  "consistency": 0.8672845363616943
+}
\ No newline at end of file
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0.log b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0.log
new file mode 100644
index 0000000000000000000000000000000000000000..0f879e65d45104c3183a9b5cbb7c9ec0e82aff5a
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0.log
@@ -0,0 +1,5 @@
+2026-03-14 22:38:05 | INFO | PID:1619 | slm_lab.lib.logger:info | trial_metrics: frame:1.00e+08 | total_reward_ma:32.29 | strength:23.4 | max_strength:35.05 | final_strength:32.89 | sample_efficiency:2.259e-08 | training_efficiency:1.158e-05 | stability:0.9763 | consistency:0.8673
+2026-03-14 22:38:05 | INFO | PID:1619 | slm_lab.lib.logger:info | Trial 0 done
+2026-03-14 22:38:05 | INFO | PID:1619 | slm_lab.cli.main:run_spec | Output: data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019
+2026-03-14 22:38:05 | INFO | PID:1619 | slm_lab.lib.hf:cleanup_models | Cleanup saved 17.6 MB
+2026-03-14 22:38:05 | INFO | PID:1619 | slm_lab.lib.hf:upload | Uploading data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019 to SLM-Lab/benchmark-dev/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019...
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0.log b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0.log
new file mode 100644
index 0000000000000000000000000000000000000000..f8856072a28e640c7c7fc7bc68ec59391831a202
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0.log
@@ -0,0 +1,4141 @@
+2026-03-14 21:30:24 | INFO | PID:1748 | slm_lab.env:make_env | Playground device: GPU (cuda) — DLPack zero-copy
+2026-03-14 21:30:36 | INFO | PID:1748 | slm_lab.env:_make_playground_env | Playground: JAX→PyTorch via DLPack zero-copy (GPU)
+2026-03-14 21:30:39 | INFO | PID:1748 | slm_lab.lib.perf:log_perf_setup | Performance setup:
+Platform: GPU NVIDIA RTX A4500 (compute 8.6)
+• GPU cuDNN benchmark: enabled
+• GPU memory management: enabled
+• GPU TF32 acceleration: enabled
+2026-03-14 21:30:39 | INFO | PID:1748 | slm_lab.lib.logger:info | PPO:
+algorithm_spec:
+  name: PPO
+  action_pdtype: Normal
+  gamma: 0.97
+  lam: 0.95
+  clip_eps_spec:
+    name: no_decay
+    start_val: 0.2
+  entropy_coef_spec:
+    name: no_decay
+    start_val: 0.005
+  val_loss_coef: 0.5
+  minibatch_size: 4096
+  normalize_v_targets: false
+  time_horizon: 20
+  training_epoch: 4
+name: PPO
+memory_spec:
+  name: OnPolicyBatchReplay
+action_pdtype: Normal
+entropy_coef_spec:
+  name: no_decay
+  start_val: 0.005
+minibatch_size: 4096
+val_loss_coef: 0.5
+num_unrolls: 1
+normalize_v_targets: False
+clip_vloss: False
+symlog: False
+normalize_advantages: standardize
+gamma: 0.97
+lam: 0.95
+clip_eps_spec:
+  name: no_decay
+  start_val: 0.2
+time_horizon: 20
+training_epoch: 4
+to_train: 0
+_unroll_batches: []
+training_frequency: 20
+clip_eps: 0.2
+shared: False
+net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=166, out_features=128, bias=True)
+      (1): SiLU()
+      (2): Linear(in_features=128, out_features=128, bias=True)
+      (3): SiLU()
+      (4): Linear(in_features=128, out_features=128, bias=True)
+      (5): SiLU()
+      (6): Linear(in_features=128, out_features=128, bias=True)
+      (7): SiLU()
+    )
+  )
+  (tails): ModuleList(
+    (0-1): 2 x Sequential(
+      (0): Linear(in_features=128, out_features=12, bias=True)
+    )
+  )
+  (loss_fn): MSELoss()
+)
+net_names: ['net', 'critic_net']
+critic_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=166, out_features=256, bias=True)
+      (1): SiLU()
+      (2): Linear(in_features=256, out_features=256, bias=True)
+      (3): SiLU()
+      (4): Linear(in_features=256, out_features=256, bias=True)
+      (5): SiLU()
+      (6): Linear(in_features=256, out_features=256, bias=True)
+      (7): SiLU()
+      (8): Linear(in_features=256, out_features=256, bias=True)
+      (9): SiLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=256, out_features=1, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: (0.9, 0.999)
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-05
+    foreach: None
+    fused: None
+    lr: 0.0003
+    maximize: False
+    weight_decay: 0
+)
+critic_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: (0.9, 0.999)
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-05
+    foreach: None
+    fused: None
+    lr: 0.0003
+    maximize: False
+    weight_decay: 0
+)
+old_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=166, out_features=128, bias=True)
+      (1): SiLU()
+      (2): Linear(in_features=128, out_features=128, bias=True)
+      (3): SiLU()
+      (4): Linear(in_features=128, out_features=128, bias=True)
+      (5): SiLU()
+      (6): Linear(in_features=128, out_features=128, bias=True)
+      (7): SiLU()
+    )
+  )
+  (tails): ModuleList(
+    (0-1): 2 x Sequential(
+      (0): Linear(in_features=128, out_features=12, bias=True)
+    )
+  )
+  (loss_fn): MSELoss()
+)
+2026-03-14 21:30:39 | INFO | PID:1748 | slm_lab.lib.logger:info | Random baseline unavailable for playground/BerkeleyHumanoidJoystickFlatTerrain, defaulting to 0.
+2026-03-14 21:32:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.06941         fps:920.7
+frame:1.00e+05        wall_t:109            t:49                  epi:nan
+opt_step:160          lr:0.0003             clip_eps:0.2          entropy:19.37
+2026-03-14 21:32:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.1064          fps:1776
+frame:2.01e+05        wall_t:113            t:98                  epi:nan
+opt_step:320          lr:0.0003             clip_eps:0.2          entropy:19.65
+2026-03-14 21:32:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.1045          fps:2573
+frame:3.01e+05        wall_t:117            t:147                 epi:nan
+opt_step:560          lr:0.0003             clip_eps:0.2          entropy:19.79
+2026-03-14 21:32:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.1012          fps:3290
+frame:4.01e+05        wall_t:122            t:196                 epi:nan
+opt_step:720          lr:0.0003             clip_eps:0.2          entropy:19.82
+2026-03-14 21:32:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.00     total_reward_ma:0.01  loss:-0.1045          fps:3951
+frame:5.02e+05        wall_t:127            t:245                 epi:nan
+opt_step:960          lr:0.0003             clip_eps:0.2          entropy:19.84
+2026-03-14 21:32:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.1092          fps:4581
+frame:6.00e+05        wall_t:131            t:293                 epi:nan
+opt_step:1120         lr:0.0003             clip_eps:0.2          entropy:20.04
+2026-03-14 21:32:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.1114          fps:5188
+frame:7.00e+05        wall_t:135            t:342                 epi:nan
+opt_step:1360         lr:0.0003             clip_eps:0.2          entropy:20.01
+2026-03-14 21:32:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.108           fps:5761
+frame:8.01e+05        wall_t:139            t:391                 epi:nan
+opt_step:1520         lr:0.0003             clip_eps:0.2          entropy:20
+2026-03-14 21:33:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.1124          fps:6258
+frame:9.01e+05        wall_t:144            t:440                 epi:nan
+opt_step:1760         lr:0.0003             clip_eps:0.2          entropy:19.91
+2026-03-14 21:33:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:0.01     total_reward_ma:0.01  loss:-0.1129          fps:6767
+frame:1.00e+06        wall_t:148            t:489                 epi:nan
+opt_step:1920         lr:0.0003             clip_eps:0.2          entropy:19.88
+2026-03-14 21:33:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:33:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:10 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:34:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:35:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:36:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:37:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.70e+06        wall_t:459            t:4249                epi:nan
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+2026-03-14 21:38:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.80e+06        wall_t:463            t:4297                epi:nan
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+2026-03-14 21:38:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.00e+06        wall_t:471            t:4395                epi:nan
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+2026-03-14 21:38:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:9.13     total_reward_ma:2.53  loss:-0.03448         fps:1.922e+04
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+2026-03-14 21:38:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:8.34     total_reward_ma:2.65  loss:-0.03375         fps:1.931e+04
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+2026-03-14 21:38:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:38:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:8.52     total_reward_ma:2.86  loss:-0.032           fps:1.945e+04
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+2026-03-14 21:39:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:39:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:40:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:41:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:41:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:41:10 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:41:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.31e+07        wall_t:637            t:6397                epi:nan
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+2026-03-14 21:41:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:41:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:41:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.34e+07        wall_t:649            t:6543                epi:nan
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+2026-03-14 21:41:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.35e+07        wall_t:653            t:6592                epi:nan
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+2026-03-14 21:41:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:10.63    total_reward_ma:6.99  loss:-0.0325          fps:2.07e+04
+frame:1.36e+07        wall_t:657            t:6641                epi:nan
+opt_step:26560        lr:0.0003             clip_eps:0.2          entropy:4.371
+2026-03-14 21:41:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:12.56    total_reward_ma:7.11  loss:-0.03228         fps:2.076e+04
+frame:1.37e+07        wall_t:660            t:6690                epi:nan
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+2026-03-14 21:41:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.38e+07        wall_t:664            t:6739                epi:nan
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+2026-03-14 21:41:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:14.76    total_reward_ma:7.39  loss:-0.03124         fps:2.078e+04
+frame:1.39e+07        wall_t:669            t:6788                epi:nan
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+2026-03-14 21:41:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:13.45    total_reward_ma:7.51  loss:-0.0299          fps:2.083e+04
+frame:1.40e+07        wall_t:672            t:6836                epi:nan
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+2026-03-14 21:41:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:13.61    total_reward_ma:7.64  loss:-0.03097         fps:2.083e+04
+frame:1.41e+07        wall_t:677            t:6885                epi:nan
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+2026-03-14 21:41:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:11.73    total_reward_ma:7.75  loss:-0.03146         fps:2.088e+04
+frame:1.42e+07        wall_t:680            t:6934                epi:nan
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+2026-03-14 21:42:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:13.08    total_reward_ma:7.88  loss:-0.03146         fps:2.088e+04
+frame:1.43e+07        wall_t:685            t:6983                epi:nan
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+2026-03-14 21:42:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:12.35    total_reward_ma:7.99  loss:-0.03291         fps:2.09e+04
+frame:1.44e+07        wall_t:689            t:7032                epi:nan
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+2026-03-14 21:42:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:42:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:13.21    total_reward_ma:8.24  loss:-0.03088         fps:2.098e+04
+frame:1.46e+07        wall_t:696            t:7129                epi:nan
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+2026-03-14 21:42:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:11.72    total_reward_ma:8.34  loss:-0.03242         fps:2.1e+04
+frame:1.47e+07        wall_t:700            t:7178                epi:nan
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+2026-03-14 21:42:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:14.36    total_reward_ma:8.47  loss:-0.02933         fps:21024
+frame:1.48e+07        wall_t:704            t:7227                epi:nan
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+2026-03-14 21:42:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:12.21    total_reward_ma:8.58  loss:-0.02949         fps:2.105e+04
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+2026-03-14 21:42:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:42:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:42:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:42:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:42:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:42:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:42:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:42:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:13.10    total_reward_ma:9.55  loss:-0.02725         fps:2.119e+04
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+2026-03-14 21:43:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:14.37    total_reward_ma:9.67  loss:-0.03236         fps:2.121e+04
+frame:1.58e+07        wall_t:745            t:7715                epi:nan
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+2026-03-14 21:43:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:43:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.83e+07         wall_t:845             t:8936                 epi:nan
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+2026-03-14 21:44:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:44:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.85e+07         wall_t:853             t:9034                 epi:nan
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+2026-03-14 21:44:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.57     total_reward_ma:12.30  loss:-0.02972          fps:2.168e+04
+frame:1.86e+07         wall_t:858             t:9083                 epi:nan
+opt_step:36320         lr:0.0003              clip_eps:0.2           entropy:4.094
+2026-03-14 21:44:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.87e+07         wall_t:861             t:9131                 epi:nan
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+2026-03-14 21:45:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.88e+07         wall_t:866             t:9180                 epi:nan
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+2026-03-14 21:45:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.88     total_reward_ma:12.56  loss:-0.03141          fps:2.175e+04
+frame:1.89e+07         wall_t:869             t:9229                 epi:nan
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+2026-03-14 21:45:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:1.90e+07         wall_t:873             t:9278                 epi:nan
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+2026-03-14 21:45:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:14.46     total_reward_ma:12.71  loss:-0.02901          fps:2.178e+04
+frame:1.91e+07         wall_t:877             t:9327                 epi:nan
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+2026-03-14 21:45:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.56     total_reward_ma:12.76  loss:-0.03021          fps:2.179e+04
+frame:1.92e+07         wall_t:881             t:9375                 epi:nan
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+2026-03-14 21:45:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.69     total_reward_ma:12.83  loss:-0.02861          fps:2.181e+04
+frame:1.93e+07         wall_t:885             t:9424                 epi:nan
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+2026-03-14 21:45:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:16.02     total_reward_ma:12.91  loss:-0.03062          fps:2.182e+04
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+2026-03-14 21:45:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:45:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:13.15     total_reward_ma:13.04  loss:-0.02994          fps:2.185e+04
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+2026-03-14 21:45:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.17     total_reward_ma:13.10  loss:-0.03054          fps:2.184e+04
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+2026-03-14 21:45:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.21     total_reward_ma:13.16  loss:-0.0304           fps:2.188e+04
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+2026-03-14 21:45:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:16.70     total_reward_ma:13.24  loss:-0.02881          fps:2.189e+04
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+2026-03-14 21:45:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:45:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:45:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:14.08     total_reward_ma:13.60  loss:-0.03026          fps:2.2e+04
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+2026-03-14 21:46:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:13.22     total_reward_ma:13.63  loss:-0.02981          fps:2.201e+04
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+2026-03-14 21:46:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.09e+07         wall_t:949             t:10206                epi:nan
+opt_step:40800         lr:0.0003              clip_eps:0.2           entropy:4.197
+2026-03-14 21:46:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.13e+07         wall_t:965             t:10401                epi:nan
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+2026-03-14 21:46:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:46:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.16e+07         wall_t:977             t:10547                epi:nan
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+2026-03-14 21:46:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.17e+07         wall_t:981             t:10596                epi:nan
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+2026-03-14 21:47:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:47:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:47:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.20e+07         wall_t:993             t:10743                epi:nan
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+2026-03-14 21:47:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.21e+07         wall_t:997             t:10792                epi:nan
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+2026-03-14 21:47:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.22e+07         wall_t:1001            t:10840                epi:nan
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+2026-03-14 21:47:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.23e+07         wall_t:1005            t:10889                epi:nan
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+2026-03-14 21:47:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.24e+07         wall_t:1008            t:10938                epi:nan
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+2026-03-14 21:47:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.25e+07         wall_t:1013            t:10987                epi:nan
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+2026-03-14 21:47:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:16.18     total_reward_ma:14.51  loss:-0.02651          fps:2.225e+04
+frame:2.26e+07         wall_t:1016            t:11036                epi:nan
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+2026-03-14 21:47:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.16     total_reward_ma:14.54  loss:-0.02869          fps:2.223e+04
+frame:2.27e+07         wall_t:1021            t:11084                epi:nan
+opt_step:44320         lr:0.0003              clip_eps:0.2           entropy:3.927
+2026-03-14 21:47:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.26     total_reward_ma:14.60  loss:-0.02959          fps:22266
+frame:2.28e+07         wall_t:1024            t:11133                epi:nan
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+2026-03-14 21:47:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.89     total_reward_ma:14.67  loss:-0.02898          fps:2.226e+04
+frame:2.29e+07         wall_t:1029            t:11182                epi:nan
+opt_step:44720         lr:0.0003              clip_eps:0.2           entropy:4.164
+2026-03-14 21:47:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.30e+07         wall_t:1033            t:11231                epi:nan
+opt_step:44880         lr:0.0003              clip_eps:0.2           entropy:4.348
+2026-03-14 21:47:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:16.93     total_reward_ma:14.75  loss:-0.03016          fps:2.228e+04
+frame:2.31e+07         wall_t:1037            t:11280                epi:nan
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+2026-03-14 21:47:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.00     total_reward_ma:14.81  loss:-0.03076          fps:2.229e+04
+frame:2.32e+07         wall_t:1041            t:11329                epi:nan
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+2026-03-14 21:48:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:18.21     total_reward_ma:14.87  loss:-0.02978          fps:2.232e+04
+frame:2.33e+07         wall_t:1044            t:11377                epi:nan
+opt_step:45440         lr:0.0003              clip_eps:0.2           entropy:4.192
+2026-03-14 21:48:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.35     total_reward_ma:14.90  loss:-0.0327           fps:2.231e+04
+frame:2.34e+07         wall_t:1049            t:11426                epi:nan
+opt_step:45680         lr:0.0003              clip_eps:0.2           entropy:4.307
+2026-03-14 21:48:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:16.65     total_reward_ma:14.94  loss:-0.03068          fps:2.232e+04
+frame:2.35e+07         wall_t:1053            t:11475                epi:nan
+opt_step:45840         lr:0.0003              clip_eps:0.2           entropy:3.986
+2026-03-14 21:48:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.03     total_reward_ma:14.98  loss:-0.03023          fps:2.233e+04
+frame:2.36e+07         wall_t:1057            t:11524                epi:nan
+opt_step:46080         lr:0.0003              clip_eps:0.2           entropy:4.116
+2026-03-14 21:48:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.93     total_reward_ma:15.02  loss:-0.0285           fps:2.234e+04
+frame:2.37e+07         wall_t:1061            t:11573                epi:nan
+opt_step:46240         lr:0.0003              clip_eps:0.2           entropy:4.287
+2026-03-14 21:48:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.52     total_reward_ma:15.06  loss:-0.02987          fps:2.235e+04
+frame:2.38e+07         wall_t:1065            t:11622                epi:nan
+opt_step:46480         lr:0.0003              clip_eps:0.2           entropy:4.059
+2026-03-14 21:48:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:15.90     total_reward_ma:15.07  loss:-0.02914          fps:2.236e+04
+frame:2.39e+07         wall_t:1069            t:11670                epi:nan
+opt_step:46640         lr:0.0003              clip_eps:0.2           entropy:4.488
+2026-03-14 21:48:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.66     total_reward_ma:15.11  loss:-0.02805          fps:2.239e+04
+frame:2.40e+07         wall_t:1072            t:11719                epi:nan
+opt_step:46800         lr:0.0003              clip_eps:0.2           entropy:4.164
+2026-03-14 21:48:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.38     total_reward_ma:15.15  loss:-0.02893          fps:2.238e+04
+frame:2.41e+07         wall_t:1077            t:11768                epi:nan
+opt_step:47040         lr:0.0003              clip_eps:0.2           entropy:4.328
+2026-03-14 21:48:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.17     total_reward_ma:15.20  loss:-0.03042          fps:2.241e+04
+frame:2.42e+07         wall_t:1080            t:11817                epi:nan
+opt_step:47200         lr:0.0003              clip_eps:0.2           entropy:4.047
+2026-03-14 21:48:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:16.12     total_reward_ma:15.23  loss:-0.02843          fps:2.24e+04
+frame:2.43e+07         wall_t:1085            t:11866                epi:nan
+opt_step:47440         lr:0.0003              clip_eps:0.2           entropy:4.046
+2026-03-14 21:48:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.02     total_reward_ma:15.28  loss:-0.02925          fps:2.243e+04
+frame:2.44e+07         wall_t:1088            t:11915                epi:nan
+opt_step:47600         lr:0.0003              clip_eps:0.2           entropy:3.939
+2026-03-14 21:48:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:18.18     total_reward_ma:15.33  loss:-0.03034          fps:2.244e+04
+frame:2.45e+07         wall_t:1092            t:11963                epi:nan
+opt_step:47840         lr:0.0003              clip_eps:0.2           entropy:4.12
+2026-03-14 21:48:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:16.42     total_reward_ma:15.36  loss:-0.02838          fps:2.247e+04
+frame:2.46e+07         wall_t:1095            t:12012                epi:nan
+opt_step:48000         lr:0.0003              clip_eps:0.2           entropy:3.904
+2026-03-14 21:48:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:19.14     total_reward_ma:15.44  loss:-0.02478          fps:2.246e+04
+frame:2.47e+07         wall_t:1100            t:12061                epi:nan
+opt_step:48240         lr:0.0003              clip_eps:0.2           entropy:3.917
+2026-03-14 21:48:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:19.78     total_reward_ma:15.49  loss:-0.02575          fps:2.249e+04
+frame:2.48e+07         wall_t:1103            t:12110                epi:nan
+opt_step:48400         lr:0.0003              clip_eps:0.2           entropy:3.527
+2026-03-14 21:49:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:18.64     total_reward_ma:15.56  loss:-0.026            fps:2.249e+04
+frame:2.49e+07         wall_t:1107            t:12159                epi:nan
+opt_step:48560         lr:0.0003              clip_eps:0.2           entropy:3.851
+2026-03-14 21:49:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:19.51     total_reward_ma:15.61  loss:-0.02859          fps:2.25e+04
+frame:2.50e+07         wall_t:1111            t:12208                epi:nan
+opt_step:48800         lr:0.0003              clip_eps:0.2           entropy:3.854
+2026-03-14 21:49:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:20.07     total_reward_ma:15.67  loss:-0.02744          fps:2.251e+04
+frame:2.51e+07         wall_t:1115            t:12256                epi:nan
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+2026-03-14 21:49:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:19.12     total_reward_ma:15.71  loss:-0.02731          fps:2.252e+04
+frame:2.52e+07         wall_t:1119            t:12305                epi:nan
+opt_step:49200         lr:0.0003              clip_eps:0.2           entropy:3.819
+2026-03-14 21:49:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.40     total_reward_ma:15.76  loss:-0.02509          fps:2.253e+04
+frame:2.53e+07         wall_t:1123            t:12354                epi:nan
+opt_step:49360         lr:0.0003              clip_eps:0.2           entropy:3.636
+2026-03-14 21:49:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.18     total_reward_ma:15.79  loss:-0.029            fps:2.252e+04
+frame:2.54e+07         wall_t:1128            t:12403                epi:nan
+opt_step:49600         lr:0.0003              clip_eps:0.2           entropy:3.906
+2026-03-14 21:49:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:17.39     total_reward_ma:15.83  loss:-0.02823          fps:2.255e+04
+frame:2.55e+07         wall_t:1131            t:12452                epi:nan
+opt_step:49760         lr:0.0003              clip_eps:0.2           entropy:3.616
+2026-03-14 21:49:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:21.06     total_reward_ma:15.91  loss:-0.02888          fps:2.254e+04
+frame:2.56e+07         wall_t:1136            t:12500                epi:nan
+opt_step:50000         lr:0.0003              clip_eps:0.2           entropy:3.745
+2026-03-14 21:49:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:18.88     total_reward_ma:15.97  loss:-0.02649          fps:2.254e+04
+frame:2.57e+07         wall_t:1140            t:12549                epi:nan
+opt_step:50160         lr:0.0003              clip_eps:0.2           entropy:3.615
+2026-03-14 21:49:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:20.41     total_reward_ma:16.03  loss:-0.02674          fps:2.255e+04
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+opt_step:50320         lr:0.0003              clip_eps:0.2           entropy:3.436
+2026-03-14 21:49:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.59e+07         wall_t:1148            t:12647                epi:nan
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+2026-03-14 21:49:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:49:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:49:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:50:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.74e+07         wall_t:1207            t:13379                epi:nan
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+2026-03-14 21:50:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.75e+07         wall_t:1212            t:13428                epi:nan
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+2026-03-14 21:50:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.76e+07         wall_t:1215            t:13477                epi:nan
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+2026-03-14 21:50:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:51:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.78e+07         wall_t:1224            t:13575                epi:nan
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+2026-03-14 21:51:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.79e+07         wall_t:1228            t:13624                epi:nan
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+2026-03-14 21:51:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.80e+07         wall_t:1232            t:13672                epi:nan
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+2026-03-14 21:51:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.81e+07         wall_t:1236            t:13721                epi:nan
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+2026-03-14 21:51:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.82e+07         wall_t:1240            t:13770                epi:nan
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+2026-03-14 21:51:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.83e+07         wall_t:1243            t:13819                epi:nan
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+2026-03-14 21:51:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:19.49     total_reward_ma:17.22  loss:-0.0254           fps:2.276e+04
+frame:2.84e+07         wall_t:1248            t:13868                epi:nan
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+2026-03-14 21:51:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:20.43     total_reward_ma:17.27  loss:-0.02448          fps:2.277e+04
+frame:2.85e+07         wall_t:1252            t:13917                epi:nan
+opt_step:55600         lr:0.0003              clip_eps:0.2           entropy:3.381
+2026-03-14 21:51:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:22.61     total_reward_ma:17.34  loss:-0.02391          fps:2.277e+04
+frame:2.86e+07         wall_t:1256            t:13965                epi:nan
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+2026-03-14 21:51:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.87e+07         wall_t:1260            t:14014                epi:nan
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+2026-03-14 21:51:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:20.35     total_reward_ma:17.42  loss:-0.02699          fps:2.279e+04
+frame:2.88e+07         wall_t:1264            t:14063                epi:nan
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+2026-03-14 21:51:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:2.89e+07         wall_t:1268            t:14112                epi:nan
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+2026-03-14 21:51:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:19.75     total_reward_ma:17.47  loss:-0.02398          fps:2.278e+04
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+2026-03-14 21:51:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:20.34     total_reward_ma:17.53  loss:-0.02408          fps:2.281e+04
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+2026-03-14 21:51:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:20.10     total_reward_ma:17.57  loss:-0.02171          fps:2.281e+04
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+2026-03-14 21:52:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:19.67     total_reward_ma:17.84  loss:-0.02461          fps:2.286e+04
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+2026-03-14 21:52:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:52:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.08e+07         wall_t:1345            t:15040                epi:nan
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+2026-03-14 21:53:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.09e+07         wall_t:1348            t:15088                epi:nan
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+2026-03-14 21:53:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.11e+07         wall_t:1357            t:15186                epi:nan
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+2026-03-14 21:53:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:53:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.22e+07         wall_t:1401            t:15723                epi:nan
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+2026-03-14 21:54:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:54:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.24e+07         wall_t:1409            t:15821                epi:nan
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+2026-03-14 21:54:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.25e+07         wall_t:1413            t:15870                epi:nan
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+2026-03-14 21:54:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.26e+07         wall_t:1417            t:15918                epi:nan
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+2026-03-14 21:54:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.27e+07         wall_t:1422            t:15967                epi:nan
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+2026-03-14 21:54:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.28e+07         wall_t:1425            t:16016                epi:nan
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+2026-03-14 21:54:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.29e+07         wall_t:1430            t:16065                epi:nan
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+2026-03-14 21:54:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.30e+07         wall_t:1433            t:16114                epi:nan
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+2026-03-14 21:54:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:54:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.32e+07         wall_t:1441            t:16211                epi:nan
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+2026-03-14 21:54:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.33e+07         wall_t:1446            t:16260                epi:nan
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+2026-03-14 21:54:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.48     total_reward_ma:20.28  loss:-0.02415          fps:2.305e+04
+frame:3.34e+07         wall_t:1449            t:16309                epi:nan
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+2026-03-14 21:54:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:21.84     total_reward_ma:20.33  loss:-0.02304          fps:2.306e+04
+frame:3.35e+07         wall_t:1453            t:16358                epi:nan
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+2026-03-14 21:54:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:22.70     total_reward_ma:20.41  loss:-0.02298          fps:2.306e+04
+frame:3.36e+07         wall_t:1457            t:16407                epi:nan
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+2026-03-14 21:54:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.04     total_reward_ma:20.48  loss:-0.02159          fps:2.307e+04
+frame:3.37e+07         wall_t:1461            t:16456                epi:nan
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+2026-03-14 21:55:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:22.41     total_reward_ma:20.53  loss:-0.02092          fps:2.307e+04
+frame:3.38e+07         wall_t:1465            t:16504                epi:nan
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+2026-03-14 21:55:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.16     total_reward_ma:20.64  loss:-0.02067          fps:2.308e+04
+frame:3.39e+07         wall_t:1469            t:16553                epi:nan
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+2026-03-14 21:55:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.76     total_reward_ma:20.70  loss:-0.02157          fps:2.308e+04
+frame:3.40e+07         wall_t:1473            t:16602                epi:nan
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+2026-03-14 21:55:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:22.93     total_reward_ma:20.76  loss:-0.02267          fps:2.309e+04
+frame:3.41e+07         wall_t:1477            t:16651                epi:nan
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+2026-03-14 21:55:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.26     total_reward_ma:20.85  loss:-0.0216           fps:2.309e+04
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+2026-03-14 21:55:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.61     total_reward_ma:20.94  loss:-0.02173          fps:2.31e+04
+frame:3.43e+07         wall_t:1485            t:16749                epi:nan
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+2026-03-14 21:55:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:55:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:55:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.58     total_reward_ma:21.16  loss:-0.02071          fps:2.311e+04
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+2026-03-14 21:55:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.64     total_reward_ma:21.22  loss:-0.02214          fps:2.312e+04
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+2026-03-14 21:55:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.97     total_reward_ma:21.27  loss:-0.02336          fps:2.312e+04
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+2026-03-14 21:55:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:55:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:55:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:55:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.08     total_reward_ma:21.47  loss:-0.01959          fps:2.314e+04
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+2026-03-14 21:56:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:56:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:56:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.37     total_reward_ma:21.71  loss:-0.02352          fps:2.316e+04
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+2026-03-14 21:56:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.29     total_reward_ma:21.73  loss:-0.02309          fps:2.316e+04
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+2026-03-14 21:56:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:25.15     total_reward_ma:21.79  loss:-0.02186          fps:2.317e+04
+frame:3.57e+07         wall_t:1541            t:17432                epi:nan
+opt_step:69680         lr:0.0003              clip_eps:0.2           entropy:2.382
+2026-03-14 21:56:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.58e+07         wall_t:1545            t:17481                epi:nan
+opt_step:69920         lr:0.0003              clip_eps:0.2           entropy:2.406
+2026-03-14 21:56:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.59e+07         wall_t:1549            t:17530                epi:nan
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+2026-03-14 21:56:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.60e+07         wall_t:1552            t:17579                epi:nan
+opt_step:70240         lr:0.0003              clip_eps:0.2           entropy:2.367
+2026-03-14 21:56:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.61e+07         wall_t:1557            t:17627                epi:nan
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+2026-03-14 21:56:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.62e+07         wall_t:1560            t:17676                epi:nan
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+2026-03-14 21:56:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.63e+07         wall_t:1564            t:17725                epi:nan
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+2026-03-14 21:56:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.64e+07         wall_t:1568            t:17774                epi:nan
+opt_step:71040         lr:0.0003              clip_eps:0.2           entropy:2.273
+2026-03-14 21:56:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.65e+07         wall_t:1572            t:17823                epi:nan
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+2026-03-14 21:56:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.66e+07         wall_t:1576            t:17872                epi:nan
+opt_step:71440         lr:0.0003              clip_eps:0.2           entropy:2.092
+2026-03-14 21:56:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.67e+07         wall_t:1580            t:17920                epi:nan
+opt_step:71680         lr:0.0003              clip_eps:0.2           entropy:2.33
+2026-03-14 21:57:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.68e+07         wall_t:1584            t:17969                epi:nan
+opt_step:71840         lr:0.0003              clip_eps:0.2           entropy:2.429
+2026-03-14 21:57:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.69e+07         wall_t:1588            t:18018                epi:nan
+opt_step:72000         lr:0.0003              clip_eps:0.2           entropy:2.163
+2026-03-14 21:57:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.70e+07         wall_t:1592            t:18067                epi:nan
+opt_step:72240         lr:0.0003              clip_eps:0.2           entropy:2.402
+2026-03-14 21:57:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:3.71e+07         wall_t:1596            t:18116                epi:nan
+opt_step:72400         lr:0.0003              clip_eps:0.2           entropy:2.242
+2026-03-14 21:57:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.12     total_reward_ma:22.78  loss:-0.01718          fps:2.325e+04
+frame:3.72e+07         wall_t:1600            t:18165                epi:nan
+opt_step:72640         lr:0.0003              clip_eps:0.2           entropy:2.009
+2026-03-14 21:57:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.56     total_reward_ma:22.84  loss:-0.0188           fps:2.327e+04
+frame:3.73e+07         wall_t:1603            t:18213                epi:nan
+opt_step:72800         lr:0.0003              clip_eps:0.2           entropy:2.095
+2026-03-14 21:57:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.52     total_reward_ma:22.91  loss:-0.01891          fps:2.326e+04
+frame:3.74e+07         wall_t:1608            t:18262                epi:nan
+opt_step:73040         lr:0.0003              clip_eps:0.2           entropy:2.19
+2026-03-14 21:57:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.02     total_reward_ma:22.98  loss:-0.01737          fps:2.328e+04
+frame:3.75e+07         wall_t:1611            t:18311                epi:nan
+opt_step:73200         lr:0.0003              clip_eps:0.2           entropy:2.034
+2026-03-14 21:57:31 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:25.04     total_reward_ma:23.05  loss:-0.01984          fps:2.328e+04
+frame:3.76e+07         wall_t:1615            t:18360                epi:nan
+opt_step:73440         lr:0.0003              clip_eps:0.2           entropy:2.157
+2026-03-14 21:57:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.36     total_reward_ma:23.13  loss:-0.0176           fps:2.329e+04
+frame:3.77e+07         wall_t:1619            t:18409                epi:nan
+opt_step:73600         lr:0.0003              clip_eps:0.2           entropy:2.157
+2026-03-14 21:57:39 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.55     total_reward_ma:23.22  loss:-0.01983          fps:2.329e+04
+frame:3.78e+07         wall_t:1623            t:18458                epi:nan
+opt_step:73760         lr:0.0003              clip_eps:0.2           entropy:2.186
+2026-03-14 21:57:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.96     total_reward_ma:23.26  loss:-0.0215           fps:2.329e+04
+frame:3.79e+07         wall_t:1627            t:18506                epi:nan
+opt_step:74000         lr:0.0003              clip_eps:0.2           entropy:2.257
+2026-03-14 21:57:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.14     total_reward_ma:23.35  loss:-0.01747          fps:2.33e+04
+frame:3.80e+07         wall_t:1631            t:18555                epi:nan
+opt_step:74160         lr:0.0003              clip_eps:0.2           entropy:2.139
+2026-03-14 21:57:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.69     total_reward_ma:23.40  loss:-0.0188           fps:2.33e+04
+frame:3.81e+07         wall_t:1635            t:18604                epi:nan
+opt_step:74400         lr:0.0003              clip_eps:0.2           entropy:2.134
+2026-03-14 21:57:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:25.38     total_reward_ma:23.45  loss:-0.01933          fps:2.331e+04
+frame:3.82e+07         wall_t:1639            t:18653                epi:nan
+opt_step:74560         lr:0.0003              clip_eps:0.2           entropy:2.11
+2026-03-14 21:58:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.23     total_reward_ma:23.53  loss:-0.01822          fps:2.33e+04
+frame:3.83e+07         wall_t:1644            t:18702                epi:nan
+opt_step:74800         lr:0.0003              clip_eps:0.2           entropy:2.038
+2026-03-14 21:58:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:25.52     total_reward_ma:23.59  loss:-0.01991          fps:2.332e+04
+frame:3.84e+07         wall_t:1647            t:18750                epi:nan
+opt_step:74960         lr:0.0003              clip_eps:0.2           entropy:2.265
+2026-03-14 21:58:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.55     total_reward_ma:23.67  loss:-0.01765          fps:2.332e+04
+frame:3.85e+07         wall_t:1651            t:18799                epi:nan
+opt_step:75120         lr:0.0003              clip_eps:0.2           entropy:2.022
+2026-03-14 21:58:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.24     total_reward_ma:23.72  loss:-0.01828          fps:2.331e+04
+frame:3.86e+07         wall_t:1656            t:18848                epi:nan
+opt_step:75360         lr:0.0003              clip_eps:0.2           entropy:1.914
+2026-03-14 21:58:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.28     total_reward_ma:23.79  loss:-0.01881          fps:2.333e+04
+frame:3.87e+07         wall_t:1659            t:18897                epi:nan
+opt_step:75520         lr:0.0003              clip_eps:0.2           entropy:2.184
+2026-03-14 21:58:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.20     total_reward_ma:23.86  loss:-0.02004          fps:2.332e+04
+frame:3.88e+07         wall_t:1664            t:18946                epi:nan
+opt_step:75760         lr:0.0003              clip_eps:0.2           entropy:2.027
+2026-03-14 21:58:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.63     total_reward_ma:23.95  loss:-0.01842          fps:2.334e+04
+frame:3.89e+07         wall_t:1667            t:18995                epi:nan
+opt_step:75920         lr:0.0003              clip_eps:0.2           entropy:2.21
+2026-03-14 21:58:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:25.36     total_reward_ma:24.01  loss:-0.01722          fps:2.333e+04
+frame:3.90e+07         wall_t:1672            t:19043                epi:nan
+opt_step:76160         lr:0.0003              clip_eps:0.2           entropy:2.047
+2026-03-14 21:58:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:25.97     total_reward_ma:24.06  loss:-0.01875          fps:2.333e+04
+frame:3.91e+07         wall_t:1676            t:19092                epi:nan
+opt_step:76320         lr:0.0003              clip_eps:0.2           entropy:2.047
+2026-03-14 21:58:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.00     total_reward_ma:24.12  loss:-0.01876          fps:2.333e+04
+frame:3.92e+07         wall_t:1680            t:19141                epi:nan
+opt_step:76560         lr:0.0003              clip_eps:0.2           entropy:2.017
+2026-03-14 21:58:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.98     total_reward_ma:24.19  loss:-0.018            fps:2.334e+04
+frame:3.93e+07         wall_t:1684            t:19190                epi:nan
+opt_step:76720         lr:0.0003              clip_eps:0.2           entropy:2.409
+2026-03-14 21:58:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.25     total_reward_ma:24.29  loss:-0.01987          fps:2.334e+04
+frame:3.94e+07         wall_t:1688            t:19239                epi:nan
+opt_step:76880         lr:0.0003              clip_eps:0.2           entropy:2.207
+2026-03-14 21:58:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.55     total_reward_ma:24.34  loss:-0.01774          fps:2.335e+04
+frame:3.95e+07         wall_t:1692            t:19288                epi:nan
+opt_step:77120         lr:0.0003              clip_eps:0.2           entropy:2.316
+2026-03-14 21:58:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:25.74     total_reward_ma:24.40  loss:-0.01824          fps:2.335e+04
+frame:3.96e+07         wall_t:1696            t:19336                epi:nan
+opt_step:77280         lr:0.0003              clip_eps:0.2           entropy:2.207
+2026-03-14 21:58:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.70     total_reward_ma:24.47  loss:-0.01703          fps:2.335e+04
+frame:3.97e+07         wall_t:1700            t:19385                epi:nan
+opt_step:77520         lr:0.0003              clip_eps:0.2           entropy:1.935
+2026-03-14 21:59:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.29     total_reward_ma:24.51  loss:-0.02076          fps:2.336e+04
+frame:3.98e+07         wall_t:1704            t:19434                epi:nan
+opt_step:77680         lr:0.0003              clip_eps:0.2           entropy:2.19
+2026-03-14 21:59:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.17     total_reward_ma:24.58  loss:-0.01911          fps:2.336e+04
+frame:3.99e+07         wall_t:1708            t:19483                epi:nan
+opt_step:77920         lr:0.0003              clip_eps:0.2           entropy:1.913
+2026-03-14 21:59:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.89     total_reward_ma:24.61  loss:-0.0195           fps:2.337e+04
+frame:4.00e+07         wall_t:1712            t:19532                epi:nan
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+2026-03-14 21:59:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.96     total_reward_ma:24.69  loss:-0.01779          fps:2.336e+04
+frame:4.01e+07         wall_t:1717            t:19581                epi:nan
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+2026-03-14 21:59:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.08     total_reward_ma:24.74  loss:-0.01887          fps:2.337e+04
+frame:4.02e+07         wall_t:1720            t:19629                epi:nan
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+2026-03-14 21:59:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.34     total_reward_ma:24.77  loss:-0.01718          fps:2.338e+04
+frame:4.03e+07         wall_t:1724            t:19678                epi:nan
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+2026-03-14 21:59:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.54     total_reward_ma:24.79  loss:-0.01837          fps:2.338e+04
+frame:4.04e+07         wall_t:1728            t:19727                epi:nan
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+2026-03-14 21:59:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.45     total_reward_ma:24.80  loss:-0.01836          fps:2.338e+04
+frame:4.05e+07         wall_t:1732            t:19776                epi:nan
+opt_step:79040         lr:0.0003              clip_eps:0.2           entropy:2
+2026-03-14 21:59:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.06e+07         wall_t:1737            t:19825                epi:nan
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+2026-03-14 21:59:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:59:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:59:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:59:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:59:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 21:59:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:00:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:00:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:00:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:00:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:00:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:00:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:00:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:00:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.20e+07         wall_t:1792            t:20508                epi:nan
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+2026-03-14 22:00:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.21e+07         wall_t:1796            t:20557                epi:nan
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+2026-03-14 22:00:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.22e+07         wall_t:1801            t:20606                epi:nan
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+2026-03-14 22:00:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.23e+07         wall_t:1804            t:20655                epi:nan
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+2026-03-14 22:00:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.30     total_reward_ma:25.01  loss:-0.01967          fps:2.344e+04
+frame:4.24e+07         wall_t:1809            t:20704                epi:nan
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+2026-03-14 22:00:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.25e+07         wall_t:1813            t:20752                epi:nan
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+2026-03-14 22:00:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.26e+07         wall_t:1817            t:20801                epi:nan
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+2026-03-14 22:00:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.53     total_reward_ma:25.00  loss:-0.01858          fps:2.345e+04
+frame:4.27e+07         wall_t:1821            t:20850                epi:nan
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+2026-03-14 22:01:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.12     total_reward_ma:25.03  loss:-0.01747          fps:2.347e+04
+frame:4.28e+07         wall_t:1824            t:20899                epi:nan
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+2026-03-14 22:01:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.59     total_reward_ma:25.00  loss:-0.02094          fps:2.346e+04
+frame:4.29e+07         wall_t:1829            t:20948                epi:nan
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+2026-03-14 22:01:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:24.09     total_reward_ma:24.98  loss:-0.01944          fps:2.346e+04
+frame:4.30e+07         wall_t:1833            t:20997                epi:nan
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+2026-03-14 22:01:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.31e+07         wall_t:1837            t:21045                epi:nan
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+2026-03-14 22:01:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.27     total_reward_ma:24.97  loss:-0.01874          fps:2.347e+04
+frame:4.32e+07         wall_t:1841            t:21094                epi:nan
+opt_step:84320         lr:0.0003              clip_eps:0.2           entropy:2.216
+2026-03-14 22:01:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:23.98     total_reward_ma:24.99  loss:-0.01807          fps:2.347e+04
+frame:4.33e+07         wall_t:1845            t:21143                epi:nan
+opt_step:84560         lr:0.0003              clip_eps:0.2           entropy:2.111
+2026-03-14 22:01:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.72     total_reward_ma:25.01  loss:-0.01914          fps:2.347e+04
+frame:4.34e+07         wall_t:1849            t:21192                epi:nan
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+2026-03-14 22:01:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.55     total_reward_ma:25.06  loss:-0.01715          fps:2.348e+04
+frame:4.35e+07         wall_t:1853            t:21241                epi:nan
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+2026-03-14 22:01:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.61     total_reward_ma:25.10  loss:-0.01904          fps:2.348e+04
+frame:4.36e+07         wall_t:1857            t:21290                epi:nan
+opt_step:85120         lr:0.0003              clip_eps:0.2           entropy:1.891
+2026-03-14 22:01:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.47     total_reward_ma:25.14  loss:-0.01884          fps:2.349e+04
+frame:4.37e+07         wall_t:1860            t:21338                epi:nan
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+2026-03-14 22:01:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.32     total_reward_ma:25.18  loss:-0.01782          fps:2.349e+04
+frame:4.38e+07         wall_t:1865            t:21387                epi:nan
+opt_step:85520         lr:0.0003              clip_eps:0.2           entropy:1.975
+2026-03-14 22:01:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:25.83     total_reward_ma:25.17  loss:-0.01844          fps:2.349e+04
+frame:4.39e+07         wall_t:1869            t:21436                epi:nan
+opt_step:85680         lr:0.0003              clip_eps:0.2           entropy:2.115
+2026-03-14 22:01:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:22.77     total_reward_ma:25.16  loss:-0.02031          fps:2.349e+04
+frame:4.40e+07         wall_t:1873            t:21485                epi:nan
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+2026-03-14 22:01:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.35     total_reward_ma:25.20  loss:-0.01869          fps:2.35e+04
+frame:4.41e+07         wall_t:1877            t:21534                epi:nan
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+2026-03-14 22:01:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.50     total_reward_ma:25.22  loss:-0.01814          fps:2.35e+04
+frame:4.42e+07         wall_t:1881            t:21583                epi:nan
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+2026-03-14 22:02:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.82     total_reward_ma:25.26  loss:-0.01736          fps:2.35e+04
+frame:4.43e+07         wall_t:1885            t:21631                epi:nan
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+2026-03-14 22:02:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.78     total_reward_ma:25.29  loss:-0.01739          fps:2.349e+04
+frame:4.44e+07         wall_t:1890            t:21680                epi:nan
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+2026-03-14 22:02:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.42     total_reward_ma:25.32  loss:-0.01701          fps:2.351e+04
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+2026-03-14 22:02:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:02:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.28     total_reward_ma:25.35  loss:-0.01448          fps:2.351e+04
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+2026-03-14 22:02:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:02:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.27     total_reward_ma:25.40  loss:-0.01671          fps:2.352e+04
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+2026-03-14 22:02:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:02:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:02:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:02:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.20     total_reward_ma:25.49  loss:-0.01851          fps:2.352e+04
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+2026-03-14 22:02:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.54e+07         wall_t:1929            t:22168                epi:nan
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+2026-03-14 22:02:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.52     total_reward_ma:25.54  loss:-0.01664          fps:2.354e+04
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+opt_step:88800         lr:0.0003              clip_eps:0.2           entropy:1.756
+2026-03-14 22:02:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.56e+07         wall_t:1937            t:22266                epi:nan
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+2026-03-14 22:02:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:10 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:03:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.70e+07         wall_t:1994            t:22950                epi:nan
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+2026-03-14 22:03:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.71e+07         wall_t:1998            t:22999                epi:nan
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+2026-03-14 22:03:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.72e+07         wall_t:2002            t:23047                epi:nan
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+2026-03-14 22:04:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:04:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.74e+07         wall_t:2010            t:23145                epi:nan
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+2026-03-14 22:04:10 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.75e+07         wall_t:2014            t:23194                epi:nan
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+2026-03-14 22:04:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.76e+07         wall_t:2018            t:23243                epi:nan
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+2026-03-14 22:04:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.77e+07         wall_t:2022            t:23292                epi:nan
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+2026-03-14 22:04:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.38     total_reward_ma:26.02  loss:-0.0151           fps:2.358e+04
+frame:4.78e+07         wall_t:2027            t:23340                epi:nan
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+2026-03-14 22:04:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:4.79e+07         wall_t:2031            t:23389                epi:nan
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+2026-03-14 22:04:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.07     total_reward_ma:26.06  loss:-0.01763          fps:2.36e+04
+frame:4.80e+07         wall_t:2034            t:23438                epi:nan
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+2026-03-14 22:04:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.16     total_reward_ma:26.07  loss:-0.01816          fps:2.359e+04
+frame:4.81e+07         wall_t:2039            t:23487                epi:nan
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+2026-03-14 22:04:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.04     total_reward_ma:26.11  loss:-0.01568          fps:2.361e+04
+frame:4.82e+07         wall_t:2042            t:23536                epi:nan
+opt_step:94080         lr:0.0003              clip_eps:0.2           entropy:1.575
+2026-03-14 22:04:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.72     total_reward_ma:26.13  loss:-0.01584          fps:2.36e+04
+frame:4.83e+07         wall_t:2047            t:23584                epi:nan
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+2026-03-14 22:04:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.86     total_reward_ma:26.19  loss:-0.01393          fps:2.361e+04
+frame:4.84e+07         wall_t:2050            t:23633                epi:nan
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+2026-03-14 22:04:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:26.84     total_reward_ma:26.18  loss:-0.01564          fps:2.36e+04
+frame:4.85e+07         wall_t:2055            t:23682                epi:nan
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+2026-03-14 22:04:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.07     total_reward_ma:26.21  loss:-0.01663          fps:2.36e+04
+frame:4.86e+07         wall_t:2059            t:23731                epi:nan
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+2026-03-14 22:04:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.05     total_reward_ma:26.24  loss:-0.01608          fps:2.361e+04
+frame:4.87e+07         wall_t:2063            t:23780                epi:nan
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+2026-03-14 22:05:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.40     total_reward_ma:26.26  loss:-0.01732          fps:2.361e+04
+frame:4.88e+07         wall_t:2067            t:23829                epi:nan
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+2026-03-14 22:05:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.88     total_reward_ma:26.26  loss:-0.01738          fps:2.362e+04
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+2026-03-14 22:05:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.71     total_reward_ma:26.29  loss:-0.01631          fps:2.361e+04
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+2026-03-14 22:05:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.57     total_reward_ma:26.32  loss:-0.01843          fps:2.362e+04
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+2026-03-14 22:05:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.43     total_reward_ma:26.36  loss:-0.01725          fps:2.362e+04
+frame:4.92e+07         wall_t:2083            t:24024                epi:nan
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+2026-03-14 22:05:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.26     total_reward_ma:26.41  loss:-0.01581          fps:2.362e+04
+frame:4.93e+07         wall_t:2087            t:24073                epi:nan
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+2026-03-14 22:05:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.80     total_reward_ma:26.42  loss:-0.01708          fps:2.361e+04
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+2026-03-14 22:05:31 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.68     total_reward_ma:26.48  loss:-0.01515          fps:2.363e+04
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+2026-03-14 22:05:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:05:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.34     total_reward_ma:26.52  loss:-0.01536          fps:2.362e+04
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+2026-03-14 22:05:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.21     total_reward_ma:26.55  loss:-0.01589          fps:2.364e+04
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+2026-03-14 22:05:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.36     total_reward_ma:26.57  loss:-0.0156           fps:2.363e+04
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+2026-03-14 22:05:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:05:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:06:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:06:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.55     total_reward_ma:26.68  loss:-0.01805          fps:2.364e+04
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+2026-03-14 22:06:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.72     total_reward_ma:26.71  loss:-0.01709          fps:2.364e+04
+frame:5.04e+07         wall_t:2132            t:24610                epi:nan
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+2026-03-14 22:06:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.05e+07         wall_t:2136            t:24659                epi:nan
+opt_step:98560         lr:0.0003              clip_eps:0.2           entropy:1.478
+2026-03-14 22:06:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.06e+07         wall_t:2140            t:24708                epi:nan
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+2026-03-14 22:06:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.07e+07         wall_t:2143            t:24756                epi:nan
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+2026-03-14 22:06:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.08e+07         wall_t:2148            t:24805                epi:nan
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+2026-03-14 22:06:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.09e+07         wall_t:2151            t:24854                epi:nan
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+2026-03-14 22:06:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.01     total_reward_ma:26.91  loss:-0.01665          fps:2.366e+04
+frame:5.10e+07         wall_t:2156            t:24903                epi:nan
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+2026-03-14 22:06:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.11e+07         wall_t:2160            t:24952                epi:nan
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+2026-03-14 22:06:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.12e+07         wall_t:2164            t:25000                epi:nan
+opt_step:100000        lr:0.0003              clip_eps:0.2           entropy:1.601
+2026-03-14 22:06:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.13e+07         wall_t:2168            t:25049                epi:nan
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+2026-03-14 22:06:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.14e+07         wall_t:2171            t:25098                epi:nan
+opt_step:100320        lr:0.0003              clip_eps:0.2           entropy:1.498
+2026-03-14 22:06:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.15e+07         wall_t:2176            t:25147                epi:nan
+opt_step:100560        lr:0.0003              clip_eps:0.2           entropy:1.637
+2026-03-14 22:06:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.16e+07         wall_t:2180            t:25196                epi:nan
+opt_step:100720        lr:0.0003              clip_eps:0.2           entropy:1.532
+2026-03-14 22:07:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.17e+07         wall_t:2184            t:25245                epi:nan
+opt_step:100960        lr:0.0003              clip_eps:0.2           entropy:1.49
+2026-03-14 22:07:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.18e+07         wall_t:2188            t:25293                epi:nan
+opt_step:101120        lr:0.0003              clip_eps:0.2           entropy:1.516
+2026-03-14 22:07:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.19e+07         wall_t:2192            t:25342                epi:nan
+opt_step:101360        lr:0.0003              clip_eps:0.2           entropy:1.478
+2026-03-14 22:07:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.82     total_reward_ma:27.46  loss:-0.01649          fps:2.368e+04
+frame:5.20e+07         wall_t:2196            t:25391                epi:nan
+opt_step:101520        lr:0.0003              clip_eps:0.2           entropy:1.361
+2026-03-14 22:07:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.67     total_reward_ma:27.52  loss:-0.01632          fps:2.368e+04
+frame:5.21e+07         wall_t:2200            t:25440                epi:nan
+opt_step:101760        lr:0.0003              clip_eps:0.2           entropy:1.65
+2026-03-14 22:07:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.18     total_reward_ma:27.59  loss:-0.01642          fps:2.368e+04
+frame:5.22e+07         wall_t:2204            t:25489                epi:nan
+opt_step:101920        lr:0.0003              clip_eps:0.2           entropy:1.513
+2026-03-14 22:07:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.51     total_reward_ma:27.63  loss:-0.01644          fps:2.369e+04
+frame:5.23e+07         wall_t:2208            t:25538                epi:nan
+opt_step:102080        lr:0.0003              clip_eps:0.2           entropy:1.488
+2026-03-14 22:07:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.22     total_reward_ma:27.68  loss:-0.01719          fps:2.369e+04
+frame:5.24e+07         wall_t:2212            t:25586                epi:nan
+opt_step:102320        lr:0.0003              clip_eps:0.2           entropy:1.256
+2026-03-14 22:07:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.22     total_reward_ma:27.75  loss:-0.0135           fps:2.369e+04
+frame:5.25e+07         wall_t:2216            t:25635                epi:nan
+opt_step:102480        lr:0.0003              clip_eps:0.2           entropy:1.463
+2026-03-14 22:07:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.45     total_reward_ma:27.78  loss:-0.01431          fps:2.369e+04
+frame:5.26e+07         wall_t:2220            t:25684                epi:nan
+opt_step:102720        lr:0.0003              clip_eps:0.2           entropy:1.226
+2026-03-14 22:07:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.35     total_reward_ma:27.85  loss:-0.01475          fps:2.37e+04
+frame:5.27e+07         wall_t:2224            t:25733                epi:nan
+opt_step:102880        lr:0.0003              clip_eps:0.2           entropy:1.259
+2026-03-14 22:07:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.66     total_reward_ma:27.88  loss:-0.01487          fps:2.369e+04
+frame:5.28e+07         wall_t:2229            t:25782                epi:nan
+opt_step:103120        lr:0.0003              clip_eps:0.2           entropy:1.32
+2026-03-14 22:07:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.72     total_reward_ma:27.96  loss:-0.01347          fps:2.37e+04
+frame:5.29e+07         wall_t:2232            t:25831                epi:nan
+opt_step:103280        lr:0.0003              clip_eps:0.2           entropy:1.319
+2026-03-14 22:07:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.23     total_reward_ma:28.03  loss:-0.01596          fps:2.37e+04
+frame:5.30e+07         wall_t:2236            t:25879                epi:nan
+opt_step:103440        lr:0.0003              clip_eps:0.2           entropy:1.545
+2026-03-14 22:07:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.75     total_reward_ma:28.09  loss:-0.01434          fps:2.37e+04
+frame:5.31e+07         wall_t:2241            t:25928                epi:nan
+opt_step:103680        lr:0.0003              clip_eps:0.2           entropy:1.258
+2026-03-14 22:08:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.92     total_reward_ma:28.15  loss:-0.0167           fps:2.37e+04
+frame:5.32e+07         wall_t:2245            t:25977                epi:nan
+opt_step:103840        lr:0.0003              clip_eps:0.2           entropy:1.348
+2026-03-14 22:08:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.62     total_reward_ma:28.21  loss:-0.01521          fps:2.37e+04
+frame:5.33e+07         wall_t:2249            t:26026                epi:nan
+opt_step:104080        lr:0.0003              clip_eps:0.2           entropy:1.525
+2026-03-14 22:08:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.55     total_reward_ma:28.22  loss:-0.01647          fps:2.37e+04
+frame:5.34e+07         wall_t:2253            t:26075                epi:nan
+opt_step:104240        lr:0.0003              clip_eps:0.2           entropy:1.563
+2026-03-14 22:08:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.37     total_reward_ma:28.24  loss:-0.01374          fps:2.369e+04
+frame:5.35e+07         wall_t:2258            t:26124                epi:nan
+opt_step:104480        lr:0.0003              clip_eps:0.2           entropy:1.242
+2026-03-14 22:08:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.65     total_reward_ma:28.29  loss:-0.01439          fps:2.371e+04
+frame:5.36e+07         wall_t:2261            t:26172                epi:nan
+opt_step:104640        lr:0.0003              clip_eps:0.2           entropy:1.289
+2026-03-14 22:08:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.89     total_reward_ma:28.32  loss:-0.01588          fps:2.37e+04
+frame:5.37e+07         wall_t:2266            t:26221                epi:nan
+opt_step:104880        lr:0.0003              clip_eps:0.2           entropy:1.453
+2026-03-14 22:08:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.20     total_reward_ma:28.34  loss:-0.01553          fps:2.37e+04
+frame:5.38e+07         wall_t:2270            t:26270                epi:nan
+opt_step:105040        lr:0.0003              clip_eps:0.2           entropy:1.368
+2026-03-14 22:08:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.95     total_reward_ma:28.40  loss:-0.01592          fps:2.37e+04
+frame:5.39e+07         wall_t:2274            t:26319                epi:nan
+opt_step:105200        lr:0.0003              clip_eps:0.2           entropy:1.439
+2026-03-14 22:08:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.50     total_reward_ma:28.48  loss:-0.01417          fps:2.371e+04
+frame:5.40e+07         wall_t:2278            t:26368                epi:nan
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+2026-03-14 22:08:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.37     total_reward_ma:28.50  loss:-0.01708          fps:2.371e+04
+frame:5.41e+07         wall_t:2282            t:26417                epi:nan
+opt_step:105600        lr:0.0003              clip_eps:0.2           entropy:1.427
+2026-03-14 22:08:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.83     total_reward_ma:28.51  loss:-0.01492          fps:2.371e+04
+frame:5.42e+07         wall_t:2286            t:26465                epi:nan
+opt_step:105840        lr:0.0003              clip_eps:0.2           entropy:1.384
+2026-03-14 22:08:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.81     total_reward_ma:28.53  loss:-0.01423          fps:2.371e+04
+frame:5.43e+07         wall_t:2290            t:26514                epi:nan
+opt_step:106000        lr:0.0003              clip_eps:0.2           entropy:1.401
+2026-03-14 22:08:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.71     total_reward_ma:28.55  loss:-0.01416          fps:2.371e+04
+frame:5.44e+07         wall_t:2294            t:26563                epi:nan
+opt_step:106240        lr:0.0003              clip_eps:0.2           entropy:1.241
+2026-03-14 22:08:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:27.92     total_reward_ma:28.55  loss:-0.01696          fps:2.372e+04
+frame:5.45e+07         wall_t:2298            t:26612                epi:nan
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+2026-03-14 22:08:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.51     total_reward_ma:28.58  loss:-0.01407          fps:2.372e+04
+frame:5.46e+07         wall_t:2302            t:26661                epi:nan
+opt_step:106640        lr:0.0003              clip_eps:0.2           entropy:1.338
+2026-03-14 22:09:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.24     total_reward_ma:28.60  loss:-0.01484          fps:2.372e+04
+frame:5.47e+07         wall_t:2306            t:26709                epi:nan
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+2026-03-14 22:09:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.87     total_reward_ma:28.61  loss:-0.01607          fps:2.372e+04
+frame:5.48e+07         wall_t:2310            t:26758                epi:nan
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+2026-03-14 22:09:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.09     total_reward_ma:28.65  loss:-0.01472          fps:2.372e+04
+frame:5.49e+07         wall_t:2315            t:26807                epi:nan
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+2026-03-14 22:09:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.26     total_reward_ma:28.69  loss:-0.01562          fps:2.373e+04
+frame:5.50e+07         wall_t:2318            t:26856                epi:nan
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+2026-03-14 22:09:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.54     total_reward_ma:28.74  loss:-0.01506          fps:2.373e+04
+frame:5.51e+07         wall_t:2322            t:26905                epi:nan
+opt_step:107600        lr:0.0003              clip_eps:0.2           entropy:1.415
+2026-03-14 22:09:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.23     total_reward_ma:28.80  loss:-0.01392          fps:2.373e+04
+frame:5.52e+07         wall_t:2326            t:26954                epi:nan
+opt_step:107760        lr:0.0003              clip_eps:0.2           entropy:1.162
+2026-03-14 22:09:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.43     total_reward_ma:28.81  loss:-0.01503          fps:2.373e+04
+frame:5.53e+07         wall_t:2330            t:27002                epi:nan
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+2026-03-14 22:09:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.50     total_reward_ma:28.87  loss:-0.01529          fps:2.374e+04
+frame:5.54e+07         wall_t:2334            t:27051                epi:nan
+opt_step:108160        lr:0.0003              clip_eps:0.2           entropy:1.049
+2026-03-14 22:09:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.32     total_reward_ma:28.92  loss:-0.01381          fps:2.374e+04
+frame:5.55e+07         wall_t:2338            t:27100                epi:nan
+opt_step:108400        lr:0.0003              clip_eps:0.2           entropy:1.249
+2026-03-14 22:09:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.56e+07         wall_t:2342            t:27149                epi:nan
+opt_step:108560        lr:0.0003              clip_eps:0.2           entropy:1.055
+2026-03-14 22:09:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.54     total_reward_ma:29.06  loss:-0.01423          fps:2.374e+04
+frame:5.57e+07         wall_t:2346            t:27198                epi:nan
+opt_step:108720        lr:0.0003              clip_eps:0.2           entropy:0.9874
+2026-03-14 22:09:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.58e+07         wall_t:2350            t:27247                epi:nan
+opt_step:108960        lr:0.0003              clip_eps:0.2           entropy:1.125
+2026-03-14 22:09:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.29     total_reward_ma:29.19  loss:-0.01547          fps:2.375e+04
+frame:5.59e+07         wall_t:2354            t:27295                epi:nan
+opt_step:109120        lr:0.0003              clip_eps:0.2           entropy:1.042
+2026-03-14 22:09:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:5.60e+07         wall_t:2358            t:27344                epi:nan
+opt_step:109360        lr:0.0003              clip_eps:0.2           entropy:1.038
+2026-03-14 22:09:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.38     total_reward_ma:29.31  loss:-0.01453          fps:2.375e+04
+frame:5.61e+07         wall_t:2362            t:27393                epi:nan
+opt_step:109520        lr:0.0003              clip_eps:0.2           entropy:1.061
+2026-03-14 22:10:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.20     total_reward_ma:29.38  loss:-0.01466          fps:2.374e+04
+frame:5.62e+07         wall_t:2367            t:27442                epi:nan
+opt_step:109760        lr:0.0003              clip_eps:0.2           entropy:0.899
+2026-03-14 22:10:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.00     total_reward_ma:29.41  loss:-0.01322          fps:2.376e+04
+frame:5.63e+07         wall_t:2370            t:27491                epi:nan
+opt_step:109920        lr:0.0003              clip_eps:0.2           entropy:1.001
+2026-03-14 22:10:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.99     total_reward_ma:29.44  loss:-0.01259          fps:2.375e+04
+frame:5.64e+07         wall_t:2375            t:27540                epi:nan
+opt_step:110160        lr:0.0003              clip_eps:0.2           entropy:0.8908
+2026-03-14 22:10:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.23     total_reward_ma:29.48  loss:-0.01308          fps:2.375e+04
+frame:5.65e+07         wall_t:2379            t:27588                epi:nan
+opt_step:110320        lr:0.0003              clip_eps:0.2           entropy:0.9574
+2026-03-14 22:10:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.34     total_reward_ma:29.52  loss:-0.01293          fps:2.375e+04
+frame:5.66e+07         wall_t:2383            t:27637                epi:nan
+opt_step:110480        lr:0.0003              clip_eps:0.2           entropy:0.8782
+2026-03-14 22:10:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.60     total_reward_ma:29.53  loss:-0.01404          fps:2.375e+04
+frame:5.67e+07         wall_t:2387            t:27686                epi:nan
+opt_step:110720        lr:0.0003              clip_eps:0.2           entropy:0.9449
+2026-03-14 22:10:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.47     total_reward_ma:29.60  loss:-0.01305          fps:2.376e+04
+frame:5.68e+07         wall_t:2391            t:27735                epi:nan
+opt_step:110880        lr:0.0003              clip_eps:0.2           entropy:0.779
+2026-03-14 22:10:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.14     total_reward_ma:29.63  loss:-0.01414          fps:2.375e+04
+frame:5.69e+07         wall_t:2396            t:27784                epi:nan
+opt_step:111120        lr:0.0003              clip_eps:0.2           entropy:0.7501
+2026-03-14 22:10:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.96     total_reward_ma:29.66  loss:-0.007609         fps:2.375e+04
+frame:5.70e+07         wall_t:2400            t:27833                epi:nan
+opt_step:111280        lr:0.0003              clip_eps:0.2           entropy:0.7517
+2026-03-14 22:10:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.96     total_reward_ma:29.70  loss:-0.01387          fps:2.375e+04
+frame:5.71e+07         wall_t:2404            t:27881                epi:nan
+opt_step:111520        lr:0.0003              clip_eps:0.2           entropy:0.8492
+2026-03-14 22:10:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.57     total_reward_ma:29.73  loss:-0.01358          fps:2.375e+04
+frame:5.72e+07         wall_t:2408            t:27930                epi:nan
+opt_step:111680        lr:0.0003              clip_eps:0.2           entropy:0.8442
+2026-03-14 22:10:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.44     total_reward_ma:29.77  loss:-0.01325          fps:2.377e+04
+frame:5.73e+07         wall_t:2411            t:27979                epi:nan
+opt_step:111840        lr:0.0003              clip_eps:0.2           entropy:0.7957
+2026-03-14 22:10:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.96     total_reward_ma:29.81  loss:-0.01192          fps:2.376e+04
+frame:5.74e+07         wall_t:2416            t:28028                epi:nan
+opt_step:112080        lr:0.0003              clip_eps:0.2           entropy:0.8046
+2026-03-14 22:10:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.42     total_reward_ma:29.84  loss:-0.01544          fps:2.376e+04
+frame:5.75e+07         wall_t:2420            t:28077                epi:nan
+opt_step:112240        lr:0.0003              clip_eps:0.2           entropy:1.034
+2026-03-14 22:11:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.25     total_reward_ma:29.88  loss:-0.01294          fps:2.376e+04
+frame:5.76e+07         wall_t:2424            t:28125                epi:nan
+opt_step:112480        lr:0.0003              clip_eps:0.2           entropy:0.8781
+2026-03-14 22:11:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.51     total_reward_ma:29.92  loss:-0.01501          fps:2.376e+04
+frame:5.77e+07         wall_t:2428            t:28174                epi:nan
+opt_step:112640        lr:0.0003              clip_eps:0.2           entropy:0.997
+2026-03-14 22:11:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.54     total_reward_ma:29.95  loss:-0.01252          fps:2.377e+04
+frame:5.78e+07         wall_t:2432            t:28223                epi:nan
+opt_step:112880        lr:0.0003              clip_eps:0.2           entropy:0.7776
+2026-03-14 22:11:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.70     total_reward_ma:29.99  loss:-0.01257          fps:2.377e+04
+frame:5.79e+07         wall_t:2436            t:28272                epi:nan
+opt_step:113040        lr:0.0003              clip_eps:0.2           entropy:0.911
+2026-03-14 22:11:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.25     total_reward_ma:30.01  loss:-0.01182          fps:2.376e+04
+frame:5.80e+07         wall_t:2441            t:28321                epi:nan
+opt_step:113280        lr:0.0003              clip_eps:0.2           entropy:0.7196
+2026-03-14 22:11:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.77     total_reward_ma:30.04  loss:-0.01276          fps:2.377e+04
+frame:5.81e+07         wall_t:2444            t:28370                epi:nan
+opt_step:113440        lr:0.0003              clip_eps:0.2           entropy:0.9427
+2026-03-14 22:11:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.63     total_reward_ma:30.06  loss:-0.01131          fps:2.377e+04
+frame:5.82e+07         wall_t:2448            t:28418                epi:nan
+opt_step:113600        lr:0.0003              clip_eps:0.2           entropy:0.8901
+2026-03-14 22:11:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.56     total_reward_ma:30.08  loss:-0.01222          fps:2.378e+04
+frame:5.83e+07         wall_t:2452            t:28467                epi:nan
+opt_step:113840        lr:0.0003              clip_eps:0.2           entropy:0.7947
+2026-03-14 22:11:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.86     total_reward_ma:30.09  loss:-0.01308          fps:2.378e+04
+frame:5.84e+07         wall_t:2456            t:28516                epi:nan
+opt_step:114000        lr:0.0003              clip_eps:0.2           entropy:0.9105
+2026-03-14 22:11:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.87     total_reward_ma:30.14  loss:-0.01315          fps:2.377e+04
+frame:5.85e+07         wall_t:2461            t:28565                epi:nan
+opt_step:114240        lr:0.0003              clip_eps:0.2           entropy:0.8707
+2026-03-14 22:11:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.08     total_reward_ma:30.16  loss:-0.01385          fps:2.378e+04
+frame:5.86e+07         wall_t:2464            t:28614                epi:nan
+opt_step:114400        lr:0.0003              clip_eps:0.2           entropy:0.6462
+2026-03-14 22:11:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.63     total_reward_ma:30.18  loss:-0.01085          fps:2.378e+04
+frame:5.87e+07         wall_t:2469            t:28663                epi:nan
+opt_step:114640        lr:0.0003              clip_eps:0.2           entropy:0.8168
+2026-03-14 22:11:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.60     total_reward_ma:30.18  loss:-0.01318          fps:2.378e+04
+frame:5.88e+07         wall_t:2473            t:28711                epi:nan
+opt_step:114800        lr:0.0003              clip_eps:0.2           entropy:0.842
+2026-03-14 22:11:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.42     total_reward_ma:30.21  loss:-0.01435          fps:2.378e+04
+frame:5.89e+07         wall_t:2477            t:28760                epi:nan
+opt_step:115040        lr:0.0003              clip_eps:0.2           entropy:0.8539
+2026-03-14 22:11:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.60     total_reward_ma:30.25  loss:-0.01268          fps:2.378e+04
+frame:5.90e+07         wall_t:2481            t:28809                epi:nan
+opt_step:115200        lr:0.0003              clip_eps:0.2           entropy:0.8764
+2026-03-14 22:12:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.21     total_reward_ma:30.27  loss:-0.01376          fps:2.379e+04
+frame:5.91e+07         wall_t:2484            t:28858                epi:nan
+opt_step:115360        lr:0.0003              clip_eps:0.2           entropy:0.9412
+2026-03-14 22:12:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.63     total_reward_ma:30.30  loss:-0.01265          fps:2.379e+04
+frame:5.92e+07         wall_t:2489            t:28907                epi:nan
+opt_step:115600        lr:0.0003              clip_eps:0.2           entropy:0.915
+2026-03-14 22:12:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.28     total_reward_ma:30.33  loss:-0.01278          fps:2.38e+04
+frame:5.93e+07         wall_t:2492            t:28956                epi:nan
+opt_step:115760        lr:0.0003              clip_eps:0.2           entropy:0.9941
+2026-03-14 22:12:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.33     total_reward_ma:30.34  loss:-0.01368          fps:2.379e+04
+frame:5.94e+07         wall_t:2497            t:29004                epi:nan
+opt_step:116000        lr:0.0003              clip_eps:0.2           entropy:1.138
+2026-03-14 22:12:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.91     total_reward_ma:30.35  loss:-0.01346          fps:2.379e+04
+frame:5.95e+07         wall_t:2501            t:29053                epi:nan
+opt_step:116160        lr:0.0003              clip_eps:0.2           entropy:0.9781
+2026-03-14 22:12:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.15     total_reward_ma:30.41  loss:-0.01258          fps:2.379e+04
+frame:5.96e+07         wall_t:2505            t:29102                epi:nan
+opt_step:116400        lr:0.0003              clip_eps:0.2           entropy:0.8684
+2026-03-14 22:12:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.37     total_reward_ma:30.42  loss:-0.01334          fps:2.379e+04
+frame:5.97e+07         wall_t:2509            t:29151                epi:nan
+opt_step:116560        lr:0.0003              clip_eps:0.2           entropy:0.9721
+2026-03-14 22:12:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.58     total_reward_ma:30.48  loss:-0.01435          fps:2.38e+04
+frame:5.98e+07         wall_t:2513            t:29200                epi:nan
+opt_step:116800        lr:0.0003              clip_eps:0.2           entropy:0.8655
+2026-03-14 22:12:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.52     total_reward_ma:30.52  loss:-0.01287          fps:2.38e+04
+frame:5.99e+07         wall_t:2517            t:29249                epi:nan
+opt_step:116960        lr:0.0003              clip_eps:0.2           entropy:0.8873
+2026-03-14 22:12:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.15     total_reward_ma:30.54  loss:-0.01363          fps:2.38e+04
+frame:6.00e+07         wall_t:2521            t:29297                epi:nan
+opt_step:117120        lr:0.0003              clip_eps:0.2           entropy:1.142
+2026-03-14 22:12:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.21     total_reward_ma:30.60  loss:-0.01394          fps:2.38e+04
+frame:6.01e+07         wall_t:2525            t:29346                epi:nan
+opt_step:117360        lr:0.0003              clip_eps:0.2           entropy:1.191
+2026-03-14 22:12:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.80     total_reward_ma:30.64  loss:-0.01441          fps:2.38e+04
+frame:6.02e+07         wall_t:2529            t:29395                epi:nan
+opt_step:117520        lr:0.0003              clip_eps:0.2           entropy:0.9048
+2026-03-14 22:12:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.18     total_reward_ma:30.67  loss:-0.01389          fps:2.381e+04
+frame:6.03e+07         wall_t:2533            t:29444                epi:nan
+opt_step:117760        lr:0.0003              clip_eps:0.2           entropy:1.203
+2026-03-14 22:12:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.04e+07         wall_t:2537            t:29493                epi:nan
+opt_step:117920        lr:0.0003              clip_eps:0.2           entropy:0.9884
+2026-03-14 22:12:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.00     total_reward_ma:30.74  loss:-0.01506          fps:2.381e+04
+frame:6.05e+07         wall_t:2541            t:29542                epi:nan
+opt_step:118160        lr:0.0003              clip_eps:0.2           entropy:1.002
+2026-03-14 22:13:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.84     total_reward_ma:30.80  loss:-0.01371          fps:2.381e+04
+frame:6.06e+07         wall_t:2545            t:29590                epi:nan
+opt_step:118320        lr:0.0003              clip_eps:0.2           entropy:0.9298
+2026-03-14 22:13:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.96     total_reward_ma:30.82  loss:-0.01559          fps:2.381e+04
+frame:6.07e+07         wall_t:2549            t:29639                epi:nan
+opt_step:118480        lr:0.0003              clip_eps:0.2           entropy:1.106
+2026-03-14 22:13:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.87     total_reward_ma:30.85  loss:-0.01318          fps:2.382e+04
+frame:6.08e+07         wall_t:2553            t:29688                epi:nan
+opt_step:118720        lr:0.0003              clip_eps:0.2           entropy:0.881
+2026-03-14 22:13:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.09e+07         wall_t:2557            t:29737                epi:nan
+opt_step:118880        lr:0.0003              clip_eps:0.2           entropy:1.017
+2026-03-14 22:13:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.10e+07         wall_t:2561            t:29786                epi:nan
+opt_step:119120        lr:0.0003              clip_eps:0.2           entropy:0.8762
+2026-03-14 22:13:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.74     total_reward_ma:30.93  loss:-0.01394          fps:2.382e+04
+frame:6.11e+07         wall_t:2565            t:29834                epi:nan
+opt_step:119280        lr:0.0003              clip_eps:0.2           entropy:0.8766
+2026-03-14 22:13:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.71     total_reward_ma:30.97  loss:-0.01241          fps:2.382e+04
+frame:6.12e+07         wall_t:2569            t:29883                epi:nan
+opt_step:119520        lr:0.0003              clip_eps:0.2           entropy:0.8966
+2026-03-14 22:13:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.13e+07         wall_t:2573            t:29932                epi:nan
+opt_step:119680        lr:0.0003              clip_eps:0.2           entropy:0.9834
+2026-03-14 22:13:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.55     total_reward_ma:31.01  loss:-0.01341          fps:2.383e+04
+frame:6.14e+07         wall_t:2577            t:29981                epi:nan
+opt_step:119920        lr:0.0003              clip_eps:0.2           entropy:0.8712
+2026-03-14 22:13:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.35     total_reward_ma:31.02  loss:-0.01463          fps:2.383e+04
+frame:6.15e+07         wall_t:2581            t:30030                epi:nan
+opt_step:120080        lr:0.0003              clip_eps:0.2           entropy:1.064
+2026-03-14 22:13:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.94     total_reward_ma:31.07  loss:-0.01285          fps:2.383e+04
+frame:6.16e+07         wall_t:2585            t:30079                epi:nan
+opt_step:120240        lr:0.0003              clip_eps:0.2           entropy:0.8532
+2026-03-14 22:13:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.42     total_reward_ma:31.11  loss:-0.01223          fps:2.383e+04
+frame:6.17e+07         wall_t:2589            t:30127                epi:nan
+opt_step:120480        lr:0.0003              clip_eps:0.2           entropy:0.967
+2026-03-14 22:13:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.45     total_reward_ma:31.14  loss:-0.01424          fps:2.384e+04
+frame:6.18e+07         wall_t:2592            t:30176                epi:nan
+opt_step:120640        lr:0.0003              clip_eps:0.2           entropy:0.8468
+2026-03-14 22:13:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.78     total_reward_ma:31.16  loss:-0.01222          fps:2.384e+04
+frame:6.19e+07         wall_t:2597            t:30225                epi:nan
+opt_step:120880        lr:0.0003              clip_eps:0.2           entropy:0.8728
+2026-03-14 22:13:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.02     total_reward_ma:31.15  loss:-0.01184          fps:2.384e+04
+frame:6.20e+07         wall_t:2601            t:30274                epi:nan
+opt_step:121040        lr:0.0003              clip_eps:0.2           entropy:1.054
+2026-03-14 22:14:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.48     total_reward_ma:31.14  loss:-0.01204          fps:2.384e+04
+frame:6.21e+07         wall_t:2605            t:30323                epi:nan
+opt_step:121280        lr:0.0003              clip_eps:0.2           entropy:0.8112
+2026-03-14 22:14:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.77     total_reward_ma:31.15  loss:-0.01193          fps:2.384e+04
+frame:6.22e+07         wall_t:2609            t:30372                epi:nan
+opt_step:121440        lr:0.0003              clip_eps:0.2           entropy:0.9708
+2026-03-14 22:14:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.42     total_reward_ma:31.16  loss:-0.01264          fps:2.384e+04
+frame:6.23e+07         wall_t:2613            t:30420                epi:nan
+opt_step:121680        lr:0.0003              clip_eps:0.2           entropy:0.8837
+2026-03-14 22:14:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.47     total_reward_ma:31.19  loss:-0.01255          fps:2.384e+04
+frame:6.24e+07         wall_t:2617            t:30469                epi:nan
+opt_step:121840        lr:0.0003              clip_eps:0.2           entropy:0.8122
+2026-03-14 22:14:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.77     total_reward_ma:31.21  loss:-0.01148          fps:2.385e+04
+frame:6.25e+07         wall_t:2621            t:30518                epi:nan
+opt_step:122000        lr:0.0003              clip_eps:0.2           entropy:0.8149
+2026-03-14 22:14:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.09     total_reward_ma:31.23  loss:-0.01177          fps:2.385e+04
+frame:6.26e+07         wall_t:2625            t:30567                epi:nan
+opt_step:122240        lr:0.0003              clip_eps:0.2           entropy:0.8475
+2026-03-14 22:14:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.38     total_reward_ma:31.25  loss:-0.01073          fps:2.385e+04
+frame:6.27e+07         wall_t:2629            t:30616                epi:nan
+opt_step:122400        lr:0.0003              clip_eps:0.2           entropy:0.737
+2026-03-14 22:14:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.92     total_reward_ma:31.27  loss:-0.01085          fps:2.384e+04
+frame:6.28e+07         wall_t:2634            t:30665                epi:nan
+opt_step:122640        lr:0.0003              clip_eps:0.2           entropy:0.7954
+2026-03-14 22:14:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.72     total_reward_ma:31.29  loss:-0.0118           fps:2.385e+04
+frame:6.29e+07         wall_t:2637            t:30713                epi:nan
+opt_step:122800        lr:0.0003              clip_eps:0.2           entropy:0.7114
+2026-03-14 22:14:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.16     total_reward_ma:31.30  loss:-0.01288          fps:2.385e+04
+frame:6.30e+07         wall_t:2642            t:30762                epi:nan
+opt_step:123040        lr:0.0003              clip_eps:0.2           entropy:0.7996
+2026-03-14 22:14:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.25     total_reward_ma:31.30  loss:-0.01265          fps:2.385e+04
+frame:6.31e+07         wall_t:2646            t:30811                epi:nan
+opt_step:123200        lr:0.0003              clip_eps:0.2           entropy:0.7136
+2026-03-14 22:14:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.54     total_reward_ma:31.31  loss:-0.01235          fps:2.385e+04
+frame:6.32e+07         wall_t:2650            t:30860                epi:nan
+opt_step:123440        lr:0.0003              clip_eps:0.2           entropy:0.6905
+2026-03-14 22:14:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.58     total_reward_ma:31.32  loss:-0.01377          fps:2.385e+04
+frame:6.33e+07         wall_t:2654            t:30909                epi:nan
+opt_step:123600        lr:0.0003              clip_eps:0.2           entropy:0.8201
+2026-03-14 22:14:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.44     total_reward_ma:31.38  loss:-0.01157          fps:2.385e+04
+frame:6.34e+07         wall_t:2658            t:30958                epi:nan
+opt_step:123760        lr:0.0003              clip_eps:0.2           entropy:0.6882
+2026-03-14 22:14:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.07     total_reward_ma:31.40  loss:-0.01252          fps:2.385e+04
+frame:6.35e+07         wall_t:2662            t:31006                epi:nan
+opt_step:124000        lr:0.0003              clip_eps:0.2           entropy:0.6287
+2026-03-14 22:15:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.03     total_reward_ma:31.41  loss:-0.01306          fps:2.386e+04
+frame:6.36e+07         wall_t:2666            t:31055                epi:nan
+opt_step:124160        lr:0.0003              clip_eps:0.2           entropy:0.7047
+2026-03-14 22:15:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.55     total_reward_ma:31.44  loss:-0.01183          fps:2.386e+04
+frame:6.37e+07         wall_t:2670            t:31104                epi:nan
+opt_step:124400        lr:0.0003              clip_eps:0.2           entropy:0.8833
+2026-03-14 22:15:10 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.90     total_reward_ma:31.49  loss:-0.01383          fps:2.386e+04
+frame:6.38e+07         wall_t:2674            t:31153                epi:nan
+opt_step:124560        lr:0.0003              clip_eps:0.2           entropy:0.7618
+2026-03-14 22:15:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.24     total_reward_ma:31.49  loss:-0.01175          fps:2.386e+04
+frame:6.39e+07         wall_t:2678            t:31202                epi:nan
+opt_step:124800        lr:0.0003              clip_eps:0.2           entropy:0.6758
+2026-03-14 22:15:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.90     total_reward_ma:31.49  loss:-0.01264          fps:2.386e+04
+frame:6.40e+07         wall_t:2682            t:31250                epi:nan
+opt_step:124960        lr:0.0003              clip_eps:0.2           entropy:0.7025
+2026-03-14 22:15:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.04     total_reward_ma:31.53  loss:-0.01433          fps:2.386e+04
+frame:6.41e+07         wall_t:2686            t:31299                epi:nan
+opt_step:125120        lr:0.0003              clip_eps:0.2           entropy:0.5922
+2026-03-14 22:15:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.01     total_reward_ma:31.55  loss:-0.01248          fps:2.387e+04
+frame:6.42e+07         wall_t:2690            t:31348                epi:nan
+opt_step:125360        lr:0.0003              clip_eps:0.2           entropy:0.554
+2026-03-14 22:15:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.25     total_reward_ma:31.58  loss:-0.01178          fps:2.387e+04
+frame:6.43e+07         wall_t:2694            t:31397                epi:nan
+opt_step:125520        lr:0.0003              clip_eps:0.2           entropy:0.6122
+2026-03-14 22:15:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.32     total_reward_ma:31.60  loss:-0.01251          fps:2.387e+04
+frame:6.44e+07         wall_t:2698            t:31446                epi:nan
+opt_step:125760        lr:0.0003              clip_eps:0.2           entropy:0.6647
+2026-03-14 22:15:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.89     total_reward_ma:31.63  loss:-0.01064          fps:2.387e+04
+frame:6.45e+07         wall_t:2702            t:31495                epi:nan
+opt_step:125920        lr:0.0003              clip_eps:0.2           entropy:0.5818
+2026-03-14 22:15:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.86     total_reward_ma:31.67  loss:-0.01157          fps:2.386e+04
+frame:6.46e+07         wall_t:2707            t:31543                epi:nan
+opt_step:126160        lr:0.0003              clip_eps:0.2           entropy:0.5727
+2026-03-14 22:15:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.09     total_reward_ma:31.68  loss:-0.01103          fps:2.387e+04
+frame:6.47e+07         wall_t:2710            t:31592                epi:nan
+opt_step:126320        lr:0.0003              clip_eps:0.2           entropy:0.4644
+2026-03-14 22:15:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.98     total_reward_ma:31.70  loss:-0.01192          fps:2.387e+04
+frame:6.48e+07         wall_t:2715            t:31641                epi:nan
+opt_step:126560        lr:0.0003              clip_eps:0.2           entropy:0.6987
+2026-03-14 22:15:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.93     total_reward_ma:31.68  loss:-0.01205          fps:2.387e+04
+frame:6.49e+07         wall_t:2719            t:31690                epi:nan
+opt_step:126720        lr:0.0003              clip_eps:0.2           entropy:0.7395
+2026-03-14 22:15:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.76     total_reward_ma:31.67  loss:-0.01182          fps:2.388e+04
+frame:6.50e+07         wall_t:2722            t:31739                epi:nan
+opt_step:126880        lr:0.0003              clip_eps:0.2           entropy:0.7195
+2026-03-14 22:16:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.00     total_reward_ma:31.66  loss:-0.01237          fps:2.388e+04
+frame:6.51e+07         wall_t:2726            t:31788                epi:nan
+opt_step:127120        lr:0.0003              clip_eps:0.2           entropy:0.8332
+2026-03-14 22:16:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.36     total_reward_ma:31.67  loss:-0.0136           fps:2.388e+04
+frame:6.52e+07         wall_t:2730            t:31836                epi:nan
+opt_step:127280        lr:0.0003              clip_eps:0.2           entropy:0.7103
+2026-03-14 22:16:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.53e+07         wall_t:2735            t:31885                epi:nan
+opt_step:127520        lr:0.0003              clip_eps:0.2           entropy:0.689
+2026-03-14 22:16:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.46     total_reward_ma:31.67  loss:-0.01269          fps:2.389e+04
+frame:6.54e+07         wall_t:2738            t:31934                epi:nan
+opt_step:127680        lr:0.0003              clip_eps:0.2           entropy:0.8469
+2026-03-14 22:16:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.55e+07         wall_t:2743            t:31983                epi:nan
+opt_step:127920        lr:0.0003              clip_eps:0.2           entropy:0.8053
+2026-03-14 22:16:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.00     total_reward_ma:31.66  loss:-0.01371          fps:2.388e+04
+frame:6.56e+07         wall_t:2747            t:32032                epi:nan
+opt_step:128080        lr:0.0003              clip_eps:0.2           entropy:0.9174
+2026-03-14 22:16:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.26     total_reward_ma:31.62  loss:-0.01319          fps:2.388e+04
+frame:6.57e+07         wall_t:2751            t:32081                epi:nan
+opt_step:128320        lr:0.0003              clip_eps:0.2           entropy:0.9646
+2026-03-14 22:16:31 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.58e+07         wall_t:2755            t:32129                epi:nan
+opt_step:128480        lr:0.0003              clip_eps:0.2           entropy:1.201
+2026-03-14 22:16:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.59e+07         wall_t:2758            t:32178                epi:nan
+opt_step:128640        lr:0.0003              clip_eps:0.2           entropy:1.234
+2026-03-14 22:16:39 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.60e+07         wall_t:2763            t:32227                epi:nan
+opt_step:128880        lr:0.0003              clip_eps:0.2           entropy:1.202
+2026-03-14 22:16:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:6.61e+07         wall_t:2766            t:32276                epi:nan
+opt_step:129040        lr:0.0003              clip_eps:0.2           entropy:1.411
+2026-03-14 22:16:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.45     total_reward_ma:31.38  loss:-0.0155           fps:2.389e+04
+frame:6.62e+07         wall_t:2771            t:32325                epi:nan
+opt_step:129280        lr:0.0003              clip_eps:0.2           entropy:1.096
+2026-03-14 22:16:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.92     total_reward_ma:31.37  loss:-0.01352          fps:2.389e+04
+frame:6.63e+07         wall_t:2775            t:32374                epi:nan
+opt_step:129440        lr:0.0003              clip_eps:0.2           entropy:1.206
+2026-03-14 22:16:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.11     total_reward_ma:31.35  loss:-0.01381          fps:2.389e+04
+frame:6.64e+07         wall_t:2779            t:32422                epi:nan
+opt_step:129680        lr:0.0003              clip_eps:0.2           entropy:1.145
+2026-03-14 22:16:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.48     total_reward_ma:31.34  loss:-0.01248          fps:2.39e+04
+frame:6.65e+07         wall_t:2783            t:32471                epi:nan
+opt_step:129840        lr:0.0003              clip_eps:0.2           entropy:1.11
+2026-03-14 22:17:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.14     total_reward_ma:31.32  loss:-0.01506          fps:2.39e+04
+frame:6.66e+07         wall_t:2787            t:32520                epi:nan
+opt_step:130080        lr:0.0003              clip_eps:0.2           entropy:1.311
+2026-03-14 22:17:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.37     total_reward_ma:31.33  loss:-0.0157           fps:2.39e+04
+frame:6.67e+07         wall_t:2791            t:32569                epi:nan
+opt_step:130240        lr:0.0003              clip_eps:0.2           entropy:1.146
+2026-03-14 22:17:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.63     total_reward_ma:31.30  loss:-0.0127           fps:2.39e+04
+frame:6.68e+07         wall_t:2795            t:32618                epi:nan
+opt_step:130400        lr:0.0003              clip_eps:0.2           entropy:1.172
+2026-03-14 22:17:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.09     total_reward_ma:31.27  loss:-0.01557          fps:2.39e+04
+frame:6.69e+07         wall_t:2799            t:32667                epi:nan
+opt_step:130640        lr:0.0003              clip_eps:0.2           entropy:1.315
+2026-03-14 22:17:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.49     total_reward_ma:31.25  loss:-0.01517          fps:2.39e+04
+frame:6.70e+07         wall_t:2803            t:32715                epi:nan
+opt_step:130800        lr:0.0003              clip_eps:0.2           entropy:1.176
+2026-03-14 22:17:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.31     total_reward_ma:31.25  loss:-0.01332          fps:2.39e+04
+frame:6.71e+07         wall_t:2807            t:32764                epi:nan
+opt_step:131040        lr:0.0003              clip_eps:0.2           entropy:0.9704
+2026-03-14 22:17:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.72     total_reward_ma:31.22  loss:-0.0149           fps:2.391e+04
+frame:6.72e+07         wall_t:2810            t:32813                epi:nan
+opt_step:131200        lr:0.0003              clip_eps:0.2           entropy:0.9931
+2026-03-14 22:17:31 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.86     total_reward_ma:31.23  loss:-0.01344          fps:2.391e+04
+frame:6.73e+07         wall_t:2815            t:32862                epi:nan
+opt_step:131440        lr:0.0003              clip_eps:0.2           entropy:0.9167
+2026-03-14 22:17:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.16     total_reward_ma:31.23  loss:-0.01555          fps:2.391e+04
+frame:6.74e+07         wall_t:2819            t:32911                epi:nan
+opt_step:131600        lr:0.0003              clip_eps:0.2           entropy:1.056
+2026-03-14 22:17:39 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.52     total_reward_ma:31.24  loss:-0.01515          fps:2.391e+04
+frame:6.75e+07         wall_t:2823            t:32959                epi:nan
+opt_step:131760        lr:0.0003              clip_eps:0.2           entropy:1.012
+2026-03-14 22:17:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.25     total_reward_ma:31.24  loss:-0.01317          fps:2.391e+04
+frame:6.76e+07         wall_t:2827            t:33008                epi:nan
+opt_step:132000        lr:0.0003              clip_eps:0.2           entropy:1.007
+2026-03-14 22:17:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.76     total_reward_ma:31.24  loss:-0.01277          fps:2.391e+04
+frame:6.77e+07         wall_t:2831            t:33057                epi:nan
+opt_step:132160        lr:0.0003              clip_eps:0.2           entropy:0.947
+2026-03-14 22:17:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.26     total_reward_ma:31.23  loss:-0.01556          fps:2.392e+04
+frame:6.78e+07         wall_t:2835            t:33106                epi:nan
+opt_step:132400        lr:0.0003              clip_eps:0.2           entropy:1.035
+2026-03-14 22:17:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.40     total_reward_ma:31.24  loss:-0.01283          fps:2.392e+04
+frame:6.79e+07         wall_t:2839            t:33155                epi:nan
+opt_step:132560        lr:0.0003              clip_eps:0.2           entropy:1.154
+2026-03-14 22:17:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.69     total_reward_ma:31.24  loss:-0.01468          fps:2.392e+04
+frame:6.80e+07         wall_t:2843            t:33204                epi:nan
+opt_step:132800        lr:0.0003              clip_eps:0.2           entropy:0.9683
+2026-03-14 22:18:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.76     total_reward_ma:31.26  loss:-0.01238          fps:2.392e+04
+frame:6.81e+07         wall_t:2847            t:33252                epi:nan
+opt_step:132960        lr:0.0003              clip_eps:0.2           entropy:1.036
+2026-03-14 22:18:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.90     total_reward_ma:31.28  loss:-0.01324          fps:2.392e+04
+frame:6.82e+07         wall_t:2851            t:33301                epi:nan
+opt_step:133200        lr:0.0003              clip_eps:0.2           entropy:0.8772
+2026-03-14 22:18:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.95     total_reward_ma:31.28  loss:-0.01381          fps:2.392e+04
+frame:6.83e+07         wall_t:2855            t:33350                epi:nan
+opt_step:133360        lr:0.0003              clip_eps:0.2           entropy:0.9259
+2026-03-14 22:18:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.53     total_reward_ma:31.27  loss:-0.01365          fps:2.392e+04
+frame:6.84e+07         wall_t:2859            t:33399                epi:nan
+opt_step:133520        lr:0.0003              clip_eps:0.2           entropy:0.8952
+2026-03-14 22:18:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.14     total_reward_ma:31.27  loss:-0.01468          fps:2.393e+04
+frame:6.85e+07         wall_t:2863            t:33448                epi:nan
+opt_step:133760        lr:0.0003              clip_eps:0.2           entropy:0.9662
+2026-03-14 22:18:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.91     total_reward_ma:31.24  loss:-0.01339          fps:2.393e+04
+frame:6.86e+07         wall_t:2867            t:33497                epi:nan
+opt_step:133920        lr:0.0003              clip_eps:0.2           entropy:0.956
+2026-03-14 22:18:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.51     total_reward_ma:31.22  loss:-0.01491          fps:2.392e+04
+frame:6.87e+07         wall_t:2872            t:33545                epi:nan
+opt_step:134160        lr:0.0003              clip_eps:0.2           entropy:1.191
+2026-03-14 22:18:31 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.97     total_reward_ma:31.24  loss:-0.01479          fps:2.393e+04
+frame:6.88e+07         wall_t:2875            t:33594                epi:nan
+opt_step:134320        lr:0.0003              clip_eps:0.2           entropy:0.9874
+2026-03-14 22:18:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.04     total_reward_ma:31.22  loss:-0.01398          fps:2.392e+04
+frame:6.89e+07         wall_t:2880            t:33643                epi:nan
+opt_step:134560        lr:0.0003              clip_eps:0.2           entropy:1.23
+2026-03-14 22:18:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.32     total_reward_ma:31.20  loss:-0.01386          fps:2.393e+04
+frame:6.90e+07         wall_t:2884            t:33692                epi:nan
+opt_step:134720        lr:0.0003              clip_eps:0.2           entropy:1.21
+2026-03-14 22:18:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.93     total_reward_ma:31.19  loss:-0.01418          fps:2.393e+04
+frame:6.91e+07         wall_t:2888            t:33741                epi:nan
+opt_step:134960        lr:0.0003              clip_eps:0.2           entropy:0.9977
+2026-03-14 22:18:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.25     total_reward_ma:31.18  loss:-0.01288          fps:2.393e+04
+frame:6.92e+07         wall_t:2892            t:33790                epi:nan
+opt_step:135120        lr:0.0003              clip_eps:0.2           entropy:0.9875
+2026-03-14 22:18:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.53     total_reward_ma:31.17  loss:-0.01537          fps:2.393e+04
+frame:6.93e+07         wall_t:2896            t:33838                epi:nan
+opt_step:135280        lr:0.0003              clip_eps:0.2           entropy:1.048
+2026-03-14 22:18:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.44     total_reward_ma:31.16  loss:-0.01414          fps:2.392e+04
+frame:6.94e+07         wall_t:2901            t:33887                epi:nan
+opt_step:135520        lr:0.0003              clip_eps:0.2           entropy:1.132
+2026-03-14 22:19:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.46     total_reward_ma:31.14  loss:-0.01316          fps:2.393e+04
+frame:6.95e+07         wall_t:2904            t:33936                epi:nan
+opt_step:135680        lr:0.0003              clip_eps:0.2           entropy:1.159
+2026-03-14 22:19:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.27     total_reward_ma:31.12  loss:-0.01595          fps:2.393e+04
+frame:6.96e+07         wall_t:2909            t:33985                epi:nan
+opt_step:135920        lr:0.0003              clip_eps:0.2           entropy:1.016
+2026-03-14 22:19:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.71     total_reward_ma:31.15  loss:-0.01451          fps:2.393e+04
+frame:6.97e+07         wall_t:2913            t:34034                epi:nan
+opt_step:136080        lr:0.0003              clip_eps:0.2           entropy:1.083
+2026-03-14 22:19:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.22     total_reward_ma:31.13  loss:-0.01467          fps:2.393e+04
+frame:6.98e+07         wall_t:2917            t:34083                epi:nan
+opt_step:136320        lr:0.0003              clip_eps:0.2           entropy:0.8773
+2026-03-14 22:19:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.64     total_reward_ma:31.13  loss:-0.01357          fps:2.393e+04
+frame:6.99e+07         wall_t:2921            t:34131                epi:nan
+opt_step:136480        lr:0.0003              clip_eps:0.2           entropy:0.9024
+2026-03-14 22:19:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.46     total_reward_ma:31.15  loss:-0.01392          fps:2.393e+04
+frame:7.00e+07         wall_t:2925            t:34180                epi:nan
+opt_step:136720        lr:0.0003              clip_eps:0.2           entropy:0.8866
+2026-03-14 22:19:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.97     total_reward_ma:31.16  loss:-0.01434          fps:2.393e+04
+frame:7.01e+07         wall_t:2929            t:34229                epi:nan
+opt_step:136880        lr:0.0003              clip_eps:0.2           entropy:0.7907
+2026-03-14 22:19:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.23     total_reward_ma:31.16  loss:-0.01381          fps:2.393e+04
+frame:7.02e+07         wall_t:2933            t:34278                epi:nan
+opt_step:137040        lr:0.0003              clip_eps:0.2           entropy:0.957
+2026-03-14 22:19:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.09     total_reward_ma:31.17  loss:-0.01321          fps:2.394e+04
+frame:7.03e+07         wall_t:2937            t:34327                epi:nan
+opt_step:137280        lr:0.0003              clip_eps:0.2           entropy:0.7753
+2026-03-14 22:19:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.75     total_reward_ma:31.20  loss:-0.01368          fps:2.394e+04
+frame:7.04e+07         wall_t:2941            t:34375                epi:nan
+opt_step:137440        lr:0.0003              clip_eps:0.2           entropy:0.8584
+2026-03-14 22:19:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.70     total_reward_ma:31.23  loss:-0.01139          fps:2.394e+04
+frame:7.05e+07         wall_t:2945            t:34424                epi:nan
+opt_step:137680        lr:0.0003              clip_eps:0.2           entropy:0.7903
+2026-03-14 22:19:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.39     total_reward_ma:31.22  loss:-0.01274          fps:2.394e+04
+frame:7.06e+07         wall_t:2949            t:34473                epi:nan
+opt_step:137840        lr:0.0003              clip_eps:0.2           entropy:1.028
+2026-03-14 22:19:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.40     total_reward_ma:31.24  loss:-0.01191          fps:2.393e+04
+frame:7.07e+07         wall_t:2954            t:34522                epi:nan
+opt_step:138080        lr:0.0003              clip_eps:0.2           entropy:0.6474
+2026-03-14 22:19:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.12     total_reward_ma:31.24  loss:-0.01046          fps:2.394e+04
+frame:7.08e+07         wall_t:2958            t:34571                epi:nan
+opt_step:138240        lr:0.0003              clip_eps:0.2           entropy:0.7997
+2026-03-14 22:19:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.75     total_reward_ma:31.24  loss:-0.01278          fps:2.394e+04
+frame:7.09e+07         wall_t:2962            t:34620                epi:nan
+opt_step:138480        lr:0.0003              clip_eps:0.2           entropy:0.734
+2026-03-14 22:20:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.28     total_reward_ma:31.23  loss:-0.01271          fps:2.394e+04
+frame:7.10e+07         wall_t:2966            t:34668                epi:nan
+opt_step:138640        lr:0.0003              clip_eps:0.2           entropy:0.7482
+2026-03-14 22:20:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.30     total_reward_ma:31.25  loss:-0.01244          fps:2.395e+04
+frame:7.11e+07         wall_t:2969            t:34717                epi:nan
+opt_step:138800        lr:0.0003              clip_eps:0.2           entropy:0.7753
+2026-03-14 22:20:10 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.82     total_reward_ma:31.24  loss:-0.01372          fps:2.394e+04
+frame:7.12e+07         wall_t:2974            t:34766                epi:nan
+opt_step:139040        lr:0.0003              clip_eps:0.2           entropy:0.6305
+2026-03-14 22:20:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.51     total_reward_ma:31.25  loss:-0.01203          fps:2.395e+04
+frame:7.13e+07         wall_t:2977            t:34815                epi:nan
+opt_step:139200        lr:0.0003              clip_eps:0.2           entropy:0.6909
+2026-03-14 22:20:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.62     total_reward_ma:31.27  loss:-0.0138           fps:2.394e+04
+frame:7.14e+07         wall_t:2982            t:34864                epi:nan
+opt_step:139440        lr:0.0003              clip_eps:0.2           entropy:0.7025
+2026-03-14 22:20:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.13     total_reward_ma:31.27  loss:-0.01301          fps:2.395e+04
+frame:7.15e+07         wall_t:2986            t:34913                epi:nan
+opt_step:139600        lr:0.0003              clip_eps:0.2           entropy:0.642
+2026-03-14 22:20:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.46     total_reward_ma:31.27  loss:-0.01181          fps:2.395e+04
+frame:7.16e+07         wall_t:2990            t:34961                epi:nan
+opt_step:139840        lr:0.0003              clip_eps:0.2           entropy:0.7396
+2026-03-14 22:20:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.38     total_reward_ma:31.28  loss:-0.01337          fps:2.395e+04
+frame:7.17e+07         wall_t:2994            t:35010                epi:nan
+opt_step:140000        lr:0.0003              clip_eps:0.2           entropy:0.6729
+2026-03-14 22:20:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.59     total_reward_ma:31.30  loss:-0.01219          fps:2.395e+04
+frame:7.18e+07         wall_t:2998            t:35059                epi:nan
+opt_step:140160        lr:0.0003              clip_eps:0.2           entropy:0.7708
+2026-03-14 22:20:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.81     total_reward_ma:31.30  loss:-0.01275          fps:2.395e+04
+frame:7.19e+07         wall_t:3002            t:35108                epi:nan
+opt_step:140400        lr:0.0003              clip_eps:0.2           entropy:0.6799
+2026-03-14 22:20:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.99     total_reward_ma:31.35  loss:-0.01401          fps:2.395e+04
+frame:7.20e+07         wall_t:3006            t:35157                epi:nan
+opt_step:140560        lr:0.0003              clip_eps:0.2           entropy:0.6826
+2026-03-14 22:20:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.20     total_reward_ma:31.39  loss:-0.01109          fps:2.395e+04
+frame:7.21e+07         wall_t:3011            t:35206                epi:nan
+opt_step:140800        lr:0.0003              clip_eps:0.2           entropy:0.6587
+2026-03-14 22:20:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.32     total_reward_ma:31.41  loss:-0.01173          fps:2.395e+04
+frame:7.22e+07         wall_t:3015            t:35254                epi:nan
+opt_step:140960        lr:0.0003              clip_eps:0.2           entropy:0.6565
+2026-03-14 22:20:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.06     total_reward_ma:31.42  loss:-0.01015          fps:2.395e+04
+frame:7.23e+07         wall_t:3019            t:35303                epi:nan
+opt_step:141200        lr:0.0003              clip_eps:0.2           entropy:0.6823
+2026-03-14 22:20:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.55     total_reward_ma:31.41  loss:-0.01333          fps:2.395e+04
+frame:7.24e+07         wall_t:3023            t:35352                epi:nan
+opt_step:141360        lr:0.0003              clip_eps:0.2           entropy:0.5459
+2026-03-14 22:21:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.64     total_reward_ma:31.42  loss:-0.01472          fps:2.394e+04
+frame:7.25e+07         wall_t:3028            t:35401                epi:nan
+opt_step:141600        lr:0.0003              clip_eps:0.2           entropy:0.5436
+2026-03-14 22:21:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.26     total_reward_ma:31.45  loss:-0.01135          fps:2.395e+04
+frame:7.26e+07         wall_t:3031            t:35450                epi:nan
+opt_step:141760        lr:0.0003              clip_eps:0.2           entropy:0.6047
+2026-03-14 22:21:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.25     total_reward_ma:31.45  loss:-0.01061          fps:2.395e+04
+frame:7.27e+07         wall_t:3035            t:35499                epi:nan
+opt_step:141920        lr:0.0003              clip_eps:0.2           entropy:0.5338
+2026-03-14 22:21:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.27     total_reward_ma:31.45  loss:-0.01268          fps:2.395e+04
+frame:7.28e+07         wall_t:3040            t:35547                epi:nan
+opt_step:142160        lr:0.0003              clip_eps:0.2           entropy:0.6181
+2026-03-14 22:21:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.71     total_reward_ma:31.45  loss:-0.01142          fps:2.396e+04
+frame:7.29e+07         wall_t:3043            t:35596                epi:nan
+opt_step:142320        lr:0.0003              clip_eps:0.2           entropy:0.5429
+2026-03-14 22:21:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.34     total_reward_ma:31.45  loss:-0.01453          fps:2.395e+04
+frame:7.30e+07         wall_t:3048            t:35645                epi:nan
+opt_step:142560        lr:0.0003              clip_eps:0.2           entropy:0.538
+2026-03-14 22:21:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.98     total_reward_ma:31.48  loss:-0.01076          fps:2.395e+04
+frame:7.31e+07         wall_t:3052            t:35694                epi:nan
+opt_step:142720        lr:0.0003              clip_eps:0.2           entropy:0.5214
+2026-03-14 22:21:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.21     total_reward_ma:31.49  loss:-0.01191          fps:2.395e+04
+frame:7.32e+07         wall_t:3056            t:35743                epi:nan
+opt_step:142960        lr:0.0003              clip_eps:0.2           entropy:0.523
+2026-03-14 22:21:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.67     total_reward_ma:31.50  loss:-0.01285          fps:2.395e+04
+frame:7.33e+07         wall_t:3060            t:35792                epi:nan
+opt_step:143120        lr:0.0003              clip_eps:0.2           entropy:0.6645
+2026-03-14 22:21:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.95     total_reward_ma:31.48  loss:-0.01251          fps:2.396e+04
+frame:7.34e+07         wall_t:3064            t:35840                epi:nan
+opt_step:143360        lr:0.0003              clip_eps:0.2           entropy:0.5183
+2026-03-14 22:21:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.87     total_reward_ma:31.48  loss:-0.01156          fps:2.397e+04
+frame:7.35e+07         wall_t:3067            t:35889                epi:nan
+opt_step:143520        lr:0.0003              clip_eps:0.2           entropy:0.7379
+2026-03-14 22:21:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.41     total_reward_ma:31.46  loss:-0.01278          fps:2.397e+04
+frame:7.36e+07         wall_t:3071            t:35938                epi:nan
+opt_step:143680        lr:0.0003              clip_eps:0.2           entropy:0.6733
+2026-03-14 22:21:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.81     total_reward_ma:31.45  loss:-0.01141          fps:2.396e+04
+frame:7.37e+07         wall_t:3076            t:35987                epi:nan
+opt_step:143920        lr:0.0003              clip_eps:0.2           entropy:0.6835
+2026-03-14 22:21:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.70     total_reward_ma:31.44  loss:-0.01194          fps:2.397e+04
+frame:7.38e+07         wall_t:3079            t:36036                epi:nan
+opt_step:144080        lr:0.0003              clip_eps:0.2           entropy:0.5015
+2026-03-14 22:22:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.48     total_reward_ma:31.44  loss:-0.01214          fps:2.396e+04
+frame:7.39e+07         wall_t:3084            t:36084                epi:nan
+opt_step:144320        lr:0.0003              clip_eps:0.2           entropy:0.5235
+2026-03-14 22:22:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.56     total_reward_ma:31.44  loss:-0.01136          fps:2.396e+04
+frame:7.40e+07         wall_t:3088            t:36133                epi:nan
+opt_step:144480        lr:0.0003              clip_eps:0.2           entropy:0.5261
+2026-03-14 22:22:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.42     total_reward_ma:31.43  loss:-0.01248          fps:2.396e+04
+frame:7.41e+07         wall_t:3093            t:36182                epi:nan
+opt_step:144720        lr:0.0003              clip_eps:0.2           entropy:0.7551
+2026-03-14 22:22:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.38     total_reward_ma:31.40  loss:-0.01237          fps:2.397e+04
+frame:7.42e+07         wall_t:3096            t:36231                epi:nan
+opt_step:144880        lr:0.0003              clip_eps:0.2           entropy:0.6608
+2026-03-14 22:22:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.31     total_reward_ma:31.41  loss:-0.01206          fps:2.396e+04
+frame:7.43e+07         wall_t:3101            t:36280                epi:nan
+opt_step:145120        lr:0.0003              clip_eps:0.2           entropy:0.4842
+2026-03-14 22:22:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.08     total_reward_ma:31.41  loss:-0.01069          fps:2.396e+04
+frame:7.44e+07         wall_t:3105            t:36329                epi:nan
+opt_step:145280        lr:0.0003              clip_eps:0.2           entropy:0.6905
+2026-03-14 22:22:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.61     total_reward_ma:31.41  loss:-0.01111          fps:2.396e+04
+frame:7.45e+07         wall_t:3109            t:36377                epi:nan
+opt_step:145440        lr:0.0003              clip_eps:0.2           entropy:0.5155
+2026-03-14 22:22:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.65     total_reward_ma:31.40  loss:-0.01113          fps:2.396e+04
+frame:7.46e+07         wall_t:3113            t:36426                epi:nan
+opt_step:145680        lr:0.0003              clip_eps:0.2           entropy:0.5292
+2026-03-14 22:22:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.50     total_reward_ma:31.43  loss:-0.0126           fps:2.397e+04
+frame:7.47e+07         wall_t:3117            t:36475                epi:nan
+opt_step:145840        lr:0.0003              clip_eps:0.2           entropy:0.5139
+2026-03-14 22:22:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.67     total_reward_ma:31.44  loss:-0.01282          fps:2.396e+04
+frame:7.48e+07         wall_t:3122            t:36524                epi:nan
+opt_step:146080        lr:0.0003              clip_eps:0.2           entropy:0.5237
+2026-03-14 22:22:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.86     total_reward_ma:31.47  loss:-0.01386          fps:2.397e+04
+frame:7.49e+07         wall_t:3125            t:36573                epi:nan
+opt_step:146240        lr:0.0003              clip_eps:0.2           entropy:0.5932
+2026-03-14 22:22:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.77     total_reward_ma:31.48  loss:-0.01071          fps:2.396e+04
+frame:7.50e+07         wall_t:3130            t:36622                epi:nan
+opt_step:146480        lr:0.0003              clip_eps:0.2           entropy:0.7031
+2026-03-14 22:22:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.78     total_reward_ma:31.48  loss:-0.0117           fps:2.396e+04
+frame:7.51e+07         wall_t:3134            t:36670                epi:nan
+opt_step:146640        lr:0.0003              clip_eps:0.2           entropy:0.6998
+2026-03-14 22:22:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:7.52e+07         wall_t:3137            t:36719                epi:nan
+opt_step:146800        lr:0.0003              clip_eps:0.2           entropy:0.5723
+2026-03-14 22:22:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.57     total_reward_ma:31.46  loss:-0.01132          fps:2.397e+04
+frame:7.53e+07         wall_t:3142            t:36768                epi:nan
+opt_step:147040        lr:0.0003              clip_eps:0.2           entropy:0.697
+2026-03-14 22:23:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.99     total_reward_ma:31.45  loss:-0.01252          fps:2.397e+04
+frame:7.54e+07         wall_t:3146            t:36817                epi:nan
+opt_step:147200        lr:0.0003              clip_eps:0.2           entropy:0.6152
+2026-03-14 22:23:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.44     total_reward_ma:31.46  loss:-0.01044          fps:2.397e+04
+frame:7.55e+07         wall_t:3150            t:36866                epi:nan
+opt_step:147440        lr:0.0003              clip_eps:0.2           entropy:0.7803
+2026-03-14 22:23:10 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.83     total_reward_ma:31.46  loss:-0.0123           fps:2.397e+04
+frame:7.56e+07         wall_t:3154            t:36915                epi:nan
+opt_step:147600        lr:0.0003              clip_eps:0.2           entropy:0.5421
+2026-03-14 22:23:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.77     total_reward_ma:31.48  loss:-0.01264          fps:2.397e+04
+frame:7.57e+07         wall_t:3158            t:36963                epi:nan
+opt_step:147840        lr:0.0003              clip_eps:0.2           entropy:0.6514
+2026-03-14 22:23:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.62     total_reward_ma:31.53  loss:-0.01213          fps:2.397e+04
+frame:7.58e+07         wall_t:3162            t:37012                epi:nan
+opt_step:148000        lr:0.0003              clip_eps:0.2           entropy:0.7179
+2026-03-14 22:23:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.62     total_reward_ma:31.59  loss:-0.01256          fps:2.397e+04
+frame:7.59e+07         wall_t:3166            t:37061                epi:nan
+opt_step:148240        lr:0.0003              clip_eps:0.2           entropy:0.6921
+2026-03-14 22:23:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.51     total_reward_ma:31.61  loss:-0.01257          fps:2.398e+04
+frame:7.60e+07         wall_t:3170            t:37110                epi:nan
+opt_step:148400        lr:0.0003              clip_eps:0.2           entropy:0.7518
+2026-03-14 22:23:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.56     total_reward_ma:31.66  loss:-0.01188          fps:2.398e+04
+frame:7.61e+07         wall_t:3174            t:37159                epi:nan
+opt_step:148560        lr:0.0003              clip_eps:0.2           entropy:0.7151
+2026-03-14 22:23:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.02     total_reward_ma:31.70  loss:-0.01256          fps:2.397e+04
+frame:7.62e+07         wall_t:3179            t:37208                epi:nan
+opt_step:148800        lr:0.0003              clip_eps:0.2           entropy:0.695
+2026-03-14 22:23:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.15     total_reward_ma:31.70  loss:-0.01413          fps:2.398e+04
+frame:7.63e+07         wall_t:3182            t:37256                epi:nan
+opt_step:148960        lr:0.0003              clip_eps:0.2           entropy:0.7417
+2026-03-14 22:23:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.02     total_reward_ma:31.68  loss:-0.01251          fps:2.397e+04
+frame:7.64e+07         wall_t:3187            t:37305                epi:nan
+opt_step:149200        lr:0.0003              clip_eps:0.2           entropy:0.7549
+2026-03-14 22:23:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.87     total_reward_ma:31.70  loss:-0.01136          fps:2.398e+04
+frame:7.65e+07         wall_t:3190            t:37354                epi:nan
+opt_step:149360        lr:0.0003              clip_eps:0.2           entropy:0.6479
+2026-03-14 22:23:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.55     total_reward_ma:31.70  loss:-0.01298          fps:2.398e+04
+frame:7.66e+07         wall_t:3195            t:37403                epi:nan
+opt_step:149600        lr:0.0003              clip_eps:0.2           entropy:0.727
+2026-03-14 22:23:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.11     total_reward_ma:31.71  loss:-0.01217          fps:2.398e+04
+frame:7.67e+07         wall_t:3199            t:37452                epi:nan
+opt_step:149760        lr:0.0003              clip_eps:0.2           entropy:0.7861
+2026-03-14 22:24:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.84     total_reward_ma:31.72  loss:-0.01102          fps:2.397e+04
+frame:7.68e+07         wall_t:3204            t:37500                epi:nan
+opt_step:150000        lr:0.0003              clip_eps:0.2           entropy:0.6171
+2026-03-14 22:24:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.55     total_reward_ma:31.74  loss:-0.01297          fps:2.398e+04
+frame:7.69e+07         wall_t:3207            t:37549                epi:nan
+opt_step:150160        lr:0.0003              clip_eps:0.2           entropy:0.7723
+2026-03-14 22:24:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.25     total_reward_ma:31.75  loss:-0.0117           fps:2.398e+04
+frame:7.70e+07         wall_t:3211            t:37598                epi:nan
+opt_step:150320        lr:0.0003              clip_eps:0.2           entropy:0.7534
+2026-03-14 22:24:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.33     total_reward_ma:31.75  loss:-0.0126           fps:2.398e+04
+frame:7.71e+07         wall_t:3215            t:37647                epi:nan
+opt_step:150560        lr:0.0003              clip_eps:0.2           entropy:0.6428
+2026-03-14 22:24:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.00     total_reward_ma:31.76  loss:-0.01131          fps:2.398e+04
+frame:7.72e+07         wall_t:3219            t:37696                epi:nan
+opt_step:150720        lr:0.0003              clip_eps:0.2           entropy:0.8165
+2026-03-14 22:24:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.04     total_reward_ma:31.75  loss:-0.01143          fps:2.398e+04
+frame:7.73e+07         wall_t:3223            t:37745                epi:nan
+opt_step:150960        lr:0.0003              clip_eps:0.2           entropy:0.8291
+2026-03-14 22:24:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.13     total_reward_ma:31.72  loss:-0.01214          fps:2.399e+04
+frame:7.74e+07         wall_t:3227            t:37793                epi:nan
+opt_step:151120        lr:0.0003              clip_eps:0.2           entropy:0.7759
+2026-03-14 22:24:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.53     total_reward_ma:31.70  loss:-0.01181          fps:2.399e+04
+frame:7.75e+07         wall_t:3231            t:37842                epi:nan
+opt_step:151360        lr:0.0003              clip_eps:0.2           entropy:0.7212
+2026-03-14 22:24:31 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.80     total_reward_ma:31.68  loss:-0.01394          fps:2.399e+04
+frame:7.76e+07         wall_t:3235            t:37891                epi:nan
+opt_step:151520        lr:0.0003              clip_eps:0.2           entropy:0.8561
+2026-03-14 22:24:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.49     total_reward_ma:31.69  loss:-0.01339          fps:2.399e+04
+frame:7.77e+07         wall_t:3239            t:37940                epi:nan
+opt_step:151760        lr:0.0003              clip_eps:0.2           entropy:0.8198
+2026-03-14 22:24:39 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.62     total_reward_ma:31.69  loss:-0.01192          fps:2.399e+04
+frame:7.78e+07         wall_t:3243            t:37989                epi:nan
+opt_step:151920        lr:0.0003              clip_eps:0.2           entropy:0.8816
+2026-03-14 22:24:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.66     total_reward_ma:31.68  loss:-0.01524          fps:2.399e+04
+frame:7.79e+07         wall_t:3247            t:38038                epi:nan
+opt_step:152080        lr:0.0003              clip_eps:0.2           entropy:0.8597
+2026-03-14 22:24:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.22     total_reward_ma:31.68  loss:-0.01555          fps:2.399e+04
+frame:7.80e+07         wall_t:3252            t:38086                epi:nan
+opt_step:152320        lr:0.0003              clip_eps:0.2           entropy:0.8523
+2026-03-14 22:24:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.66     total_reward_ma:31.67  loss:-0.015            fps:2.399e+04
+frame:7.81e+07         wall_t:3255            t:38135                epi:nan
+opt_step:152480        lr:0.0003              clip_eps:0.2           entropy:0.9211
+2026-03-14 22:24:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.10     total_reward_ma:31.66  loss:-0.01456          fps:2.4e+04
+frame:7.82e+07         wall_t:3259            t:38184                epi:nan
+opt_step:152720        lr:0.0003              clip_eps:0.2           entropy:0.8946
+2026-03-14 22:24:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.36     total_reward_ma:31.64  loss:-0.01572          fps:2.4e+04
+frame:7.83e+07         wall_t:3263            t:38233                epi:nan
+opt_step:152880        lr:0.0003              clip_eps:0.2           entropy:1.036
+2026-03-14 22:25:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.41     total_reward_ma:31.62  loss:-0.01542          fps:2.399e+04
+frame:7.84e+07         wall_t:3268            t:38282                epi:nan
+opt_step:153120        lr:0.0003              clip_eps:0.2           entropy:1.054
+2026-03-14 22:25:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.07     total_reward_ma:31.62  loss:-0.01248          fps:2.4e+04
+frame:7.85e+07         wall_t:3271            t:38331                epi:nan
+opt_step:153280        lr:0.0003              clip_eps:0.2           entropy:1.049
+2026-03-14 22:25:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.32     total_reward_ma:31.61  loss:-0.01444          fps:2.399e+04
+frame:7.86e+07         wall_t:3276            t:38379                epi:nan
+opt_step:153440        lr:0.0003              clip_eps:0.2           entropy:1.173
+2026-03-14 22:25:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.61     total_reward_ma:31.60  loss:-0.01504          fps:2.399e+04
+frame:7.87e+07         wall_t:3280            t:38428                epi:nan
+opt_step:153680        lr:0.0003              clip_eps:0.2           entropy:1.031
+2026-03-14 22:25:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.45     total_reward_ma:31.59  loss:-0.01585          fps:2.4e+04
+frame:7.88e+07         wall_t:3284            t:38477                epi:nan
+opt_step:153840        lr:0.0003              clip_eps:0.2           entropy:0.9108
+2026-03-14 22:25:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.68     total_reward_ma:31.62  loss:-0.01321          fps:2.4e+04
+frame:7.89e+07         wall_t:3288            t:38526                epi:nan
+opt_step:154080        lr:0.0003              clip_eps:0.2           entropy:1.021
+2026-03-14 22:25:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.08     total_reward_ma:31.62  loss:-0.01503          fps:2.4e+04
+frame:7.90e+07         wall_t:3292            t:38575                epi:nan
+opt_step:154240        lr:0.0003              clip_eps:0.2           entropy:0.9573
+2026-03-14 22:25:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.41     total_reward_ma:31.63  loss:-0.01381          fps:2.399e+04
+frame:7.91e+07         wall_t:3297            t:38624                epi:nan
+opt_step:154480        lr:0.0003              clip_eps:0.2           entropy:0.7944
+2026-03-14 22:25:37 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.40     total_reward_ma:31.61  loss:-0.01527          fps:2.399e+04
+frame:7.92e+07         wall_t:3301            t:38672                epi:nan
+opt_step:154640        lr:0.0003              clip_eps:0.2           entropy:1.03
+2026-03-14 22:25:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.97     total_reward_ma:31.62  loss:-0.01368          fps:2.399e+04
+frame:7.93e+07         wall_t:3305            t:38721                epi:nan
+opt_step:154880        lr:0.0003              clip_eps:0.2           entropy:0.9026
+2026-03-14 22:25:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.72     total_reward_ma:31.62  loss:-0.01222          fps:2.4e+04
+frame:7.94e+07         wall_t:3309            t:38770                epi:nan
+opt_step:155040        lr:0.0003              clip_eps:0.2           entropy:0.8735
+2026-03-14 22:25:49 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.16     total_reward_ma:31.62  loss:-0.01281          fps:2.4e+04
+frame:7.95e+07         wall_t:3313            t:38819                epi:nan
+opt_step:155200        lr:0.0003              clip_eps:0.2           entropy:0.9594
+2026-03-14 22:25:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.99     total_reward_ma:31.61  loss:-0.01228          fps:2.4e+04
+frame:7.96e+07         wall_t:3317            t:38868                epi:nan
+opt_step:155440        lr:0.0003              clip_eps:0.2           entropy:0.8057
+2026-03-14 22:25:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.74     total_reward_ma:31.60  loss:-0.01486          fps:2.4e+04
+frame:7.97e+07         wall_t:3321            t:38917                epi:nan
+opt_step:155600        lr:0.0003              clip_eps:0.2           entropy:0.8606
+2026-03-14 22:26:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.14     total_reward_ma:31.59  loss:-0.01292          fps:2.399e+04
+frame:7.98e+07         wall_t:3326            t:38965                epi:nan
+opt_step:155840        lr:0.0003              clip_eps:0.2           entropy:0.8506
+2026-03-14 22:26:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.43     total_reward_ma:31.56  loss:-0.01422          fps:2.399e+04
+frame:7.99e+07         wall_t:3330            t:39014                epi:nan
+opt_step:156000        lr:0.0003              clip_eps:0.2           entropy:0.9678
+2026-03-14 22:26:10 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.04     total_reward_ma:31.54  loss:-0.01486          fps:2.4e+04
+frame:8.00e+07         wall_t:3334            t:39063                epi:nan
+opt_step:156240        lr:0.0003              clip_eps:0.2           entropy:0.9795
+2026-03-14 22:26:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.05     total_reward_ma:31.51  loss:-0.01366          fps:2.4e+04
+frame:8.01e+07         wall_t:3338            t:39112                epi:nan
+opt_step:156400        lr:0.0003              clip_eps:0.2           entropy:0.9484
+2026-03-14 22:26:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.51     total_reward_ma:31.51  loss:-0.01473          fps:2.4e+04
+frame:8.02e+07         wall_t:3342            t:39161                epi:nan
+opt_step:156640        lr:0.0003              clip_eps:0.2           entropy:0.7483
+2026-03-14 22:26:22 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.31     total_reward_ma:31.50  loss:-0.01304          fps:2.4e+04
+frame:8.03e+07         wall_t:3346            t:39209                epi:nan
+opt_step:156800        lr:0.0003              clip_eps:0.2           entropy:0.778
+2026-03-14 22:26:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.86     total_reward_ma:31.49  loss:-0.01467          fps:2.4e+04
+frame:8.04e+07         wall_t:3350            t:39258                epi:nan
+opt_step:156960        lr:0.0003              clip_eps:0.2           entropy:0.787
+2026-03-14 22:26:31 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.03     total_reward_ma:31.48  loss:-0.01339          fps:2.399e+04
+frame:8.05e+07         wall_t:3355            t:39307                epi:nan
+opt_step:157200        lr:0.0003              clip_eps:0.2           entropy:0.8369
+2026-03-14 22:26:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.86     total_reward_ma:31.48  loss:-0.01094          fps:2.4e+04
+frame:8.06e+07         wall_t:3358            t:39356                epi:nan
+opt_step:157360        lr:0.0003              clip_eps:0.2           entropy:0.9521
+2026-03-14 22:26:39 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.36     total_reward_ma:31.46  loss:-0.01316          fps:2.4e+04
+frame:8.07e+07         wall_t:3363            t:39405                epi:nan
+opt_step:157600        lr:0.0003              clip_eps:0.2           entropy:0.887
+2026-03-14 22:26:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.79     total_reward_ma:31.48  loss:-0.01363          fps:2.4e+04
+frame:8.08e+07         wall_t:3367            t:39454                epi:nan
+opt_step:157760        lr:0.0003              clip_eps:0.2           entropy:0.9215
+2026-03-14 22:26:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.91     total_reward_ma:31.47  loss:-0.01432          fps:2.4e+04
+frame:8.09e+07         wall_t:3371            t:39502                epi:nan
+opt_step:158000        lr:0.0003              clip_eps:0.2           entropy:0.7893
+2026-03-14 22:26:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.10e+07         wall_t:3375            t:39551                epi:nan
+opt_step:158160        lr:0.0003              clip_eps:0.2           entropy:0.7836
+2026-03-14 22:26:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.62     total_reward_ma:31.48  loss:-0.01431          fps:2.399e+04
+frame:8.11e+07         wall_t:3380            t:39600                epi:nan
+opt_step:158400        lr:0.0003              clip_eps:0.2           entropy:0.7938
+2026-03-14 22:27:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.30     total_reward_ma:31.49  loss:-0.01372          fps:2.4e+04
+frame:8.12e+07         wall_t:3384            t:39649                epi:nan
+opt_step:158560        lr:0.0003              clip_eps:0.2           entropy:0.7442
+2026-03-14 22:27:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.16     total_reward_ma:31.52  loss:-0.01221          fps:2.4e+04
+frame:8.13e+07         wall_t:3387            t:39698                epi:nan
+opt_step:158720        lr:0.0003              clip_eps:0.2           entropy:0.7593
+2026-03-14 22:27:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.17     total_reward_ma:31.52  loss:-0.01291          fps:2.4e+04
+frame:8.14e+07         wall_t:3392            t:39747                epi:nan
+opt_step:158960        lr:0.0003              clip_eps:0.2           entropy:0.5853
+2026-03-14 22:27:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.74     total_reward_ma:31.54  loss:-0.01213          fps:2.4e+04
+frame:8.15e+07         wall_t:3396            t:39795                epi:nan
+opt_step:159120        lr:0.0003              clip_eps:0.2           entropy:0.8038
+2026-03-14 22:27:16 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.63     total_reward_ma:31.53  loss:-0.01447          fps:2.4e+04
+frame:8.16e+07         wall_t:3400            t:39844                epi:nan
+opt_step:159360        lr:0.0003              clip_eps:0.2           entropy:0.6506
+2026-03-14 22:27:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.87     total_reward_ma:31.52  loss:-0.01113          fps:2.4e+04
+frame:8.17e+07         wall_t:3404            t:39893                epi:nan
+opt_step:159520        lr:0.0003              clip_eps:0.2           entropy:0.7865
+2026-03-14 22:27:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.30     total_reward_ma:31.50  loss:-0.01456          fps:2.4e+04
+frame:8.18e+07         wall_t:3409            t:39942                epi:nan
+opt_step:159760        lr:0.0003              clip_eps:0.2           entropy:0.7029
+2026-03-14 22:27:28 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.57     total_reward_ma:31.51  loss:-0.0124           fps:2.4e+04
+frame:8.19e+07         wall_t:3412            t:39991                epi:nan
+opt_step:159920        lr:0.0003              clip_eps:0.2           entropy:0.7726
+2026-03-14 22:27:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.45     total_reward_ma:31.48  loss:-0.01251          fps:2.4e+04
+frame:8.20e+07         wall_t:3417            t:40040                epi:nan
+opt_step:160160        lr:0.0003              clip_eps:0.2           entropy:0.6561
+2026-03-14 22:27:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.42     total_reward_ma:31.46  loss:-0.01161          fps:2.401e+04
+frame:8.21e+07         wall_t:3420            t:40088                epi:nan
+opt_step:160320        lr:0.0003              clip_eps:0.2           entropy:0.592
+2026-03-14 22:27:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.72     total_reward_ma:31.46  loss:-0.0127           fps:2.401e+04
+frame:8.22e+07         wall_t:3424            t:40137                epi:nan
+opt_step:160480        lr:0.0003              clip_eps:0.2           entropy:0.6698
+2026-03-14 22:27:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.26     total_reward_ma:31.47  loss:-0.01228          fps:2.4e+04
+frame:8.23e+07         wall_t:3429            t:40186                epi:nan
+opt_step:160720        lr:0.0003              clip_eps:0.2           entropy:0.5491
+2026-03-14 22:27:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.19     total_reward_ma:31.47  loss:-0.0112           fps:2.401e+04
+frame:8.24e+07         wall_t:3432            t:40235                epi:nan
+opt_step:160880        lr:0.0003              clip_eps:0.2           entropy:0.689
+2026-03-14 22:27:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.65     total_reward_ma:31.46  loss:-0.01307          fps:2.4e+04
+frame:8.25e+07         wall_t:3437            t:40284                epi:nan
+opt_step:161120        lr:0.0003              clip_eps:0.2           entropy:0.5537
+2026-03-14 22:27:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.90     total_reward_ma:31.46  loss:-0.01315          fps:2.401e+04
+frame:8.26e+07         wall_t:3441            t:40333                epi:nan
+opt_step:161280        lr:0.0003              clip_eps:0.2           entropy:0.4762
+2026-03-14 22:28:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.10     total_reward_ma:31.47  loss:-0.01313          fps:2.401e+04
+frame:8.27e+07         wall_t:3445            t:40381                epi:nan
+opt_step:161520        lr:0.0003              clip_eps:0.2           entropy:0.379
+2026-03-14 22:28:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.27     total_reward_ma:31.48  loss:-0.01229          fps:2.401e+04
+frame:8.28e+07         wall_t:3449            t:40430                epi:nan
+opt_step:161680        lr:0.0003              clip_eps:0.2           entropy:0.4124
+2026-03-14 22:28:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.18     total_reward_ma:31.48  loss:-0.01286          fps:2.401e+04
+frame:8.29e+07         wall_t:3453            t:40479                epi:nan
+opt_step:161840        lr:0.0003              clip_eps:0.2           entropy:0.5093
+2026-03-14 22:28:13 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.05     total_reward_ma:31.48  loss:-0.01362          fps:2.401e+04
+frame:8.30e+07         wall_t:3457            t:40528                epi:nan
+opt_step:162080        lr:0.0003              clip_eps:0.2           entropy:0.4942
+2026-03-14 22:28:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.53     total_reward_ma:31.47  loss:-0.01146          fps:2.401e+04
+frame:8.31e+07         wall_t:3461            t:40577                epi:nan
+opt_step:162240        lr:0.0003              clip_eps:0.2           entropy:0.4667
+2026-03-14 22:28:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.68     total_reward_ma:31.49  loss:-0.01278          fps:2.401e+04
+frame:8.32e+07         wall_t:3465            t:40625                epi:nan
+opt_step:162480        lr:0.0003              clip_eps:0.2           entropy:0.4422
+2026-03-14 22:28:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.37     total_reward_ma:31.50  loss:-0.01134          fps:2.401e+04
+frame:8.33e+07         wall_t:3469            t:40674                epi:nan
+opt_step:162640        lr:0.0003              clip_eps:0.2           entropy:0.3085
+2026-03-14 22:28:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.22     total_reward_ma:31.51  loss:-0.0118           fps:2.401e+04
+frame:8.34e+07         wall_t:3474            t:40723                epi:nan
+opt_step:162880        lr:0.0003              clip_eps:0.2           entropy:0.374
+2026-03-14 22:28:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.98     total_reward_ma:31.51  loss:-0.0119           fps:2.402e+04
+frame:8.35e+07         wall_t:3477            t:40772                epi:nan
+opt_step:163040        lr:0.0003              clip_eps:0.2           entropy:0.5813
+2026-03-14 22:28:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.63     total_reward_ma:31.52  loss:-0.0121           fps:2.401e+04
+frame:8.36e+07         wall_t:3482            t:40821                epi:nan
+opt_step:163280        lr:0.0003              clip_eps:0.2           entropy:0.27
+2026-03-14 22:28:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.83     total_reward_ma:31.54  loss:-0.0112           fps:2.401e+04
+frame:8.37e+07         wall_t:3486            t:40870                epi:nan
+opt_step:163440        lr:0.0003              clip_eps:0.2           entropy:0.3407
+2026-03-14 22:28:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.23     total_reward_ma:31.51  loss:-0.01228          fps:2.402e+04
+frame:8.38e+07         wall_t:3489            t:40918                epi:nan
+opt_step:163600        lr:0.0003              clip_eps:0.2           entropy:0.3978
+2026-03-14 22:28:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.56     total_reward_ma:31.50  loss:-0.01189          fps:2.401e+04
+frame:8.39e+07         wall_t:3494            t:40967                epi:nan
+opt_step:163840        lr:0.0003              clip_eps:0.2           entropy:0.3713
+2026-03-14 22:28:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.31     total_reward_ma:31.49  loss:-0.01012          fps:2.402e+04
+frame:8.40e+07         wall_t:3497            t:41016                epi:nan
+opt_step:164000        lr:0.0003              clip_eps:0.2           entropy:0.4078
+2026-03-14 22:28:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.18     total_reward_ma:31.47  loss:-0.01304          fps:2.402e+04
+frame:8.41e+07         wall_t:3502            t:41065                epi:nan
+opt_step:164240        lr:0.0003              clip_eps:0.2           entropy:0.5385
+2026-03-14 22:29:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.82     total_reward_ma:31.48  loss:-0.01138          fps:2.402e+04
+frame:8.42e+07         wall_t:3505            t:41114                epi:nan
+opt_step:164400        lr:0.0003              clip_eps:0.2           entropy:0.5018
+2026-03-14 22:29:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.96     total_reward_ma:31.46  loss:-0.01122          fps:2.402e+04
+frame:8.43e+07         wall_t:3510            t:41163                epi:nan
+opt_step:164640        lr:0.0003              clip_eps:0.2           entropy:0.4606
+2026-03-14 22:29:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.45     total_reward_ma:31.45  loss:-0.009242         fps:2.403e+04
+frame:8.44e+07         wall_t:3513            t:41211                epi:nan
+opt_step:164800        lr:0.0003              clip_eps:0.2           entropy:0.4951
+2026-03-14 22:29:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.12     total_reward_ma:31.47  loss:-0.0107           fps:2.402e+04
+frame:8.45e+07         wall_t:3518            t:41260                epi:nan
+opt_step:165040        lr:0.0003              clip_eps:0.2           entropy:0.4419
+2026-03-14 22:29:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.90     total_reward_ma:31.45  loss:-0.01197          fps:2.403e+04
+frame:8.46e+07         wall_t:3521            t:41309                epi:nan
+opt_step:165200        lr:0.0003              clip_eps:0.2           entropy:0.5859
+2026-03-14 22:29:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.15     total_reward_ma:31.42  loss:-0.01223          fps:2.403e+04
+frame:8.47e+07         wall_t:3525            t:41358                epi:nan
+opt_step:165360        lr:0.0003              clip_eps:0.2           entropy:0.8289
+2026-03-14 22:29:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.73     total_reward_ma:31.40  loss:-0.01147          fps:2.402e+04
+frame:8.48e+07         wall_t:3530            t:41407                epi:nan
+opt_step:165600        lr:0.0003              clip_eps:0.2           entropy:0.5162
+2026-03-14 22:29:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.49e+07         wall_t:3534            t:41456                epi:nan
+opt_step:165760        lr:0.0003              clip_eps:0.2           entropy:0.5506
+2026-03-14 22:29:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.50e+07         wall_t:3538            t:41504                epi:nan
+opt_step:166000        lr:0.0003              clip_eps:0.2           entropy:0.4981
+2026-03-14 22:29:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.84     total_reward_ma:31.34  loss:-0.01173          fps:2.403e+04
+frame:8.51e+07         wall_t:3542            t:41553                epi:nan
+opt_step:166160        lr:0.0003              clip_eps:0.2           entropy:0.6093
+2026-03-14 22:29:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.24     total_reward_ma:31.33  loss:-0.01181          fps:2.403e+04
+frame:8.52e+07         wall_t:3546            t:41602                epi:nan
+opt_step:166400        lr:0.0003              clip_eps:0.2           entropy:0.6342
+2026-03-14 22:29:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.53e+07         wall_t:3550            t:41651                epi:nan
+opt_step:166560        lr:0.0003              clip_eps:0.2           entropy:0.5982
+2026-03-14 22:29:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.54e+07         wall_t:3555            t:41700                epi:nan
+opt_step:166800        lr:0.0003              clip_eps:0.2           entropy:0.5877
+2026-03-14 22:29:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.55e+07         wall_t:3559            t:41749                epi:nan
+opt_step:166960        lr:0.0003              clip_eps:0.2           entropy:0.5102
+2026-03-14 22:29:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.56e+07         wall_t:3562            t:41797                epi:nan
+opt_step:167120        lr:0.0003              clip_eps:0.2           entropy:0.8243
+2026-03-14 22:30:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.57e+07         wall_t:3567            t:41846                epi:nan
+opt_step:167360        lr:0.0003              clip_eps:0.2           entropy:0.6607
+2026-03-14 22:30:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.58e+07         wall_t:3571            t:41895                epi:nan
+opt_step:167520        lr:0.0003              clip_eps:0.2           entropy:0.6848
+2026-03-14 22:30:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.59e+07         wall_t:3575            t:41944                epi:nan
+opt_step:167760        lr:0.0003              clip_eps:0.2           entropy:0.6131
+2026-03-14 22:30:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.60e+07         wall_t:3579            t:41993                epi:nan
+opt_step:167920        lr:0.0003              clip_eps:0.2           entropy:0.4143
+2026-03-14 22:30:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.65     total_reward_ma:31.29  loss:-0.01227          fps:24024
+frame:8.61e+07         wall_t:3584            t:42042                epi:nan
+opt_step:168160        lr:0.0003              clip_eps:0.2           entropy:0.5597
+2026-03-14 22:30:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.66     total_reward_ma:31.30  loss:-0.01372          fps:2.403e+04
+frame:8.62e+07         wall_t:3587            t:42090                epi:nan
+opt_step:168320        lr:0.0003              clip_eps:0.2           entropy:0.5946
+2026-03-14 22:30:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.53     total_reward_ma:31.33  loss:-0.0132           fps:2.403e+04
+frame:8.63e+07         wall_t:3591            t:42139                epi:nan
+opt_step:168480        lr:0.0003              clip_eps:0.2           entropy:0.5464
+2026-03-14 22:30:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.21     total_reward_ma:31.39  loss:-0.01283          fps:2.403e+04
+frame:8.64e+07         wall_t:3596            t:42188                epi:nan
+opt_step:168720        lr:0.0003              clip_eps:0.2           entropy:0.5267
+2026-03-14 22:30:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.39     total_reward_ma:31.40  loss:-0.01164          fps:2.403e+04
+frame:8.65e+07         wall_t:3599            t:42237                epi:nan
+opt_step:168880        lr:0.0003              clip_eps:0.2           entropy:0.5502
+2026-03-14 22:30:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.70     total_reward_ma:31.42  loss:-0.01061          fps:2.403e+04
+frame:8.66e+07         wall_t:3604            t:42286                epi:nan
+opt_step:169120        lr:0.0003              clip_eps:0.2           entropy:0.4545
+2026-03-14 22:30:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.54     total_reward_ma:31.45  loss:-0.01346          fps:2.403e+04
+frame:8.67e+07         wall_t:3608            t:42334                epi:nan
+opt_step:169280        lr:0.0003              clip_eps:0.2           entropy:0.4845
+2026-03-14 22:30:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.73     total_reward_ma:31.47  loss:-0.01305          fps:2.403e+04
+frame:8.68e+07         wall_t:3612            t:42383                epi:nan
+opt_step:169520        lr:0.0003              clip_eps:0.2           entropy:0.5393
+2026-03-14 22:30:52 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.20     total_reward_ma:31.46  loss:-0.01175          fps:2.403e+04
+frame:8.69e+07         wall_t:3616            t:42432                epi:nan
+opt_step:169680        lr:0.0003              clip_eps:0.2           entropy:0.4829
+2026-03-14 22:30:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.52     total_reward_ma:31.46  loss:-0.012            fps:2.403e+04
+frame:8.70e+07         wall_t:3621            t:42481                epi:nan
+opt_step:169920        lr:0.0003              clip_eps:0.2           entropy:0.5535
+2026-03-14 22:31:01 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.64     total_reward_ma:31.45  loss:-0.009975         fps:2.403e+04
+frame:8.71e+07         wall_t:3625            t:42530                epi:nan
+opt_step:170080        lr:0.0003              clip_eps:0.2           entropy:0.4589
+2026-03-14 22:31:04 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.75     total_reward_ma:31.46  loss:-0.01224          fps:2.404e+04
+frame:8.72e+07         wall_t:3628            t:42579                epi:nan
+opt_step:170240        lr:0.0003              clip_eps:0.2           entropy:0.438
+2026-03-14 22:31:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.90     total_reward_ma:31.46  loss:-0.01219          fps:2.403e+04
+frame:8.73e+07         wall_t:3633            t:42627                epi:nan
+opt_step:170480        lr:0.0003              clip_eps:0.2           entropy:0.5478
+2026-03-14 22:31:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.26     total_reward_ma:31.51  loss:-0.01149          fps:2.404e+04
+frame:8.74e+07         wall_t:3636            t:42676                epi:nan
+opt_step:170640        lr:0.0003              clip_eps:0.2           entropy:0.4921
+2026-03-14 22:31:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.86     total_reward_ma:31.52  loss:-0.01193          fps:2.403e+04
+frame:8.75e+07         wall_t:3641            t:42725                epi:nan
+opt_step:170880        lr:0.0003              clip_eps:0.2           entropy:0.5386
+2026-03-14 22:31:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.83     total_reward_ma:31.54  loss:-0.01094          fps:2.403e+04
+frame:8.76e+07         wall_t:3645            t:42774                epi:nan
+opt_step:171040        lr:0.0003              clip_eps:0.2           entropy:0.5355
+2026-03-14 22:31:25 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.07     total_reward_ma:31.54  loss:-0.01004          fps:2.403e+04
+frame:8.77e+07         wall_t:3649            t:42823                epi:nan
+opt_step:171280        lr:0.0003              clip_eps:0.2           entropy:0.4542
+2026-03-14 22:31:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.40     total_reward_ma:31.54  loss:-0.01195          fps:2.404e+04
+frame:8.78e+07         wall_t:3653            t:42872                epi:nan
+opt_step:171440        lr:0.0003              clip_eps:0.2           entropy:0.4988
+2026-03-14 22:31:34 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.65     total_reward_ma:31.55  loss:-0.0125           fps:2.403e+04
+frame:8.79e+07         wall_t:3658            t:42920                epi:nan
+opt_step:171680        lr:0.0003              clip_eps:0.2           entropy:0.4623
+2026-03-14 22:31:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.87     total_reward_ma:31.57  loss:-0.0122           fps:2.403e+04
+frame:8.80e+07         wall_t:3662            t:42969                epi:nan
+opt_step:171840        lr:0.0003              clip_eps:0.2           entropy:0.4752
+2026-03-14 22:31:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.96     total_reward_ma:31.58  loss:-0.009507         fps:2.403e+04
+frame:8.81e+07         wall_t:3666            t:43018                epi:nan
+opt_step:172000        lr:0.0003              clip_eps:0.2           entropy:0.498
+2026-03-14 22:31:46 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.25     total_reward_ma:31.59  loss:-0.01116          fps:2.403e+04
+frame:8.82e+07         wall_t:3670            t:43067                epi:nan
+opt_step:172240        lr:0.0003              clip_eps:0.2           entropy:0.5032
+2026-03-14 22:31:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.07     total_reward_ma:31.61  loss:-0.01108          fps:2.403e+04
+frame:8.83e+07         wall_t:3674            t:43116                epi:nan
+opt_step:172400        lr:0.0003              clip_eps:0.2           entropy:0.5331
+2026-03-14 22:31:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.00     total_reward_ma:31.65  loss:-0.01219          fps:2.403e+04
+frame:8.84e+07         wall_t:3679            t:43165                epi:nan
+opt_step:172640        lr:0.0003              clip_eps:0.2           entropy:0.4402
+2026-03-14 22:31:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.45     total_reward_ma:31.65  loss:-0.01302          fps:2.404e+04
+frame:8.85e+07         wall_t:3682            t:43213                epi:nan
+opt_step:172800        lr:0.0003              clip_eps:0.2           entropy:0.6313
+2026-03-14 22:32:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.33     total_reward_ma:31.68  loss:-0.01235          fps:2.403e+04
+frame:8.86e+07         wall_t:3687            t:43262                epi:nan
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+2026-03-14 22:32:07 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.85     total_reward_ma:31.71  loss:-0.01189          fps:2.403e+04
+frame:8.87e+07         wall_t:3691            t:43311                epi:nan
+opt_step:173200        lr:0.0003              clip_eps:0.2           entropy:0.6032
+2026-03-14 22:32:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.40     total_reward_ma:31.73  loss:-0.0136           fps:2.403e+04
+frame:8.88e+07         wall_t:3695            t:43360                epi:nan
+opt_step:173440        lr:0.0003              clip_eps:0.2           entropy:0.5915
+2026-03-14 22:32:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.38     total_reward_ma:31.71  loss:-0.01261          fps:2.403e+04
+frame:8.89e+07         wall_t:3699            t:43409                epi:nan
+opt_step:173600        lr:0.0003              clip_eps:0.2           entropy:0.6805
+2026-03-14 22:32:19 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.77     total_reward_ma:31.70  loss:-0.01361          fps:2.404e+04
+frame:8.90e+07         wall_t:3703            t:43458                epi:nan
+opt_step:173760        lr:0.0003              clip_eps:0.2           entropy:0.7831
+2026-03-14 22:32:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.55     total_reward_ma:31.70  loss:-0.01101          fps:2.404e+04
+frame:8.91e+07         wall_t:3707            t:43506                epi:nan
+opt_step:174000        lr:0.0003              clip_eps:0.2           entropy:0.6706
+2026-03-14 22:32:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.86     total_reward_ma:31.69  loss:-0.01253          fps:2.404e+04
+frame:8.92e+07         wall_t:3711            t:43555                epi:nan
+opt_step:174160        lr:0.0003              clip_eps:0.2           entropy:0.5714
+2026-03-14 22:32:31 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.48     total_reward_ma:31.68  loss:-0.01285          fps:2.404e+04
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+2026-03-14 22:32:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.38     total_reward_ma:31.66  loss:-0.01399          fps:2.404e+04
+frame:8.94e+07         wall_t:3719            t:43653                epi:nan
+opt_step:174560        lr:0.0003              clip_eps:0.2           entropy:0.7651
+2026-03-14 22:32:40 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.98     total_reward_ma:31.65  loss:-0.01343          fps:2.403e+04
+frame:8.95e+07         wall_t:3724            t:43702                epi:nan
+opt_step:174800        lr:0.0003              clip_eps:0.2           entropy:0.8588
+2026-03-14 22:32:43 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.64     total_reward_ma:31.64  loss:-0.0139           fps:2.404e+04
+frame:8.96e+07         wall_t:3727            t:43750                epi:nan
+opt_step:174960        lr:0.0003              clip_eps:0.2           entropy:0.7545
+2026-03-14 22:32:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.51     total_reward_ma:31.65  loss:-0.01453          fps:2.404e+04
+frame:8.97e+07         wall_t:3731            t:43799                epi:nan
+opt_step:175120        lr:0.0003              clip_eps:0.2           entropy:0.7502
+2026-03-14 22:32:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.98e+07         wall_t:3735            t:43848                epi:nan
+opt_step:175360        lr:0.0003              clip_eps:0.2           entropy:0.7636
+2026-03-14 22:32:55 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:8.99e+07         wall_t:3739            t:43897                epi:nan
+opt_step:175520        lr:0.0003              clip_eps:0.2           entropy:0.7085
+2026-03-14 22:32:58 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.00e+07         wall_t:3742            t:43946                epi:nan
+opt_step:175760        lr:0.0003              clip_eps:0.2           entropy:0.7402
+2026-03-14 22:33:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.01e+07         wall_t:3745            t:43995                epi:nan
+opt_step:175920        lr:0.0003              clip_eps:0.2           entropy:0.642
+2026-03-14 22:33:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.02e+07         wall_t:3749            t:44043                epi:nan
+opt_step:176160        lr:0.0003              clip_eps:0.2           entropy:0.6502
+2026-03-14 22:33:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.03e+07         wall_t:3752            t:44092                epi:nan
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+2026-03-14 22:33:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.04e+07         wall_t:3755            t:44141                epi:nan
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+2026-03-14 22:33:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.05e+07         wall_t:3758            t:44190                epi:nan
+opt_step:176720        lr:0.0003              clip_eps:0.2           entropy:0.5824
+2026-03-14 22:33:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.06e+07         wall_t:3761            t:44239                epi:nan
+opt_step:176880        lr:0.0003              clip_eps:0.2           entropy:0.6011
+2026-03-14 22:33:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.07e+07         wall_t:3764            t:44288                epi:nan
+opt_step:177120        lr:0.0003              clip_eps:0.2           entropy:0.6503
+2026-03-14 22:33:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.08e+07         wall_t:3767            t:44336                epi:nan
+opt_step:177280        lr:0.0003              clip_eps:0.2           entropy:0.6906
+2026-03-14 22:33:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.09e+07         wall_t:3770            t:44385                epi:nan
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+2026-03-14 22:33:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.10e+07         wall_t:3773            t:44434                epi:nan
+opt_step:177680        lr:0.0003              clip_eps:0.2           entropy:0.8928
+2026-03-14 22:33:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.11e+07         wall_t:3776            t:44483                epi:nan
+opt_step:177920        lr:0.0003              clip_eps:0.2           entropy:0.7635
+2026-03-14 22:33:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.71     total_reward_ma:31.53  loss:-0.01315          fps:2.413e+04
+frame:9.12e+07         wall_t:3779            t:44532                epi:nan
+opt_step:178080        lr:0.0003              clip_eps:0.2           entropy:0.7873
+2026-03-14 22:33:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:29.38     total_reward_ma:31.48  loss:-0.01232          fps:2.414e+04
+frame:9.13e+07         wall_t:3782            t:44581                epi:nan
+opt_step:178320        lr:0.0003              clip_eps:0.2           entropy:0.6757
+2026-03-14 22:33:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.92     total_reward_ma:31.47  loss:-0.01319          fps:2.415e+04
+frame:9.14e+07         wall_t:3785            t:44629                epi:nan
+opt_step:178480        lr:0.0003              clip_eps:0.2           entropy:0.6839
+2026-03-14 22:33:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.57     total_reward_ma:31.47  loss:-0.01337          fps:2.416e+04
+frame:9.15e+07         wall_t:3788            t:44678                epi:nan
+opt_step:178640        lr:0.0003              clip_eps:0.2           entropy:0.6694
+2026-03-14 22:33:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.58     total_reward_ma:31.47  loss:-0.01256          fps:2.416e+04
+frame:9.16e+07         wall_t:3791            t:44727                epi:nan
+opt_step:178880        lr:0.0003              clip_eps:0.2           entropy:0.7473
+2026-03-14 22:33:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.25     total_reward_ma:31.47  loss:-0.01245          fps:2.417e+04
+frame:9.17e+07         wall_t:3794            t:44776                epi:nan
+opt_step:179040        lr:0.0003              clip_eps:0.2           entropy:0.5971
+2026-03-14 22:33:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.07     total_reward_ma:31.49  loss:-0.01249          fps:2.418e+04
+frame:9.18e+07         wall_t:3797            t:44825                epi:nan
+opt_step:179280        lr:0.0003              clip_eps:0.2           entropy:0.594
+2026-03-14 22:33:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:28.93     total_reward_ma:31.46  loss:-0.01163          fps:2.418e+04
+frame:9.19e+07         wall_t:3800            t:44874                epi:nan
+opt_step:179440        lr:0.0003              clip_eps:0.2           entropy:0.6753
+2026-03-14 22:33:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.90     total_reward_ma:31.46  loss:-0.01001          fps:2.419e+04
+frame:9.20e+07         wall_t:3803            t:44922                epi:nan
+opt_step:179680        lr:0.0003              clip_eps:0.2           entropy:0.6766
+2026-03-14 22:34:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.40     total_reward_ma:31.46  loss:-0.0107           fps:2.42e+04
+frame:9.21e+07         wall_t:3806            t:44971                epi:nan
+opt_step:179840        lr:0.0003              clip_eps:0.2           entropy:0.7275
+2026-03-14 22:34:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.63     total_reward_ma:31.45  loss:-0.01246          fps:2.421e+04
+frame:9.22e+07         wall_t:3809            t:45020                epi:nan
+opt_step:180080        lr:0.0003              clip_eps:0.2           entropy:0.7185
+2026-03-14 22:34:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.44     total_reward_ma:31.44  loss:-0.01073          fps:2.421e+04
+frame:9.23e+07         wall_t:3812            t:45069                epi:nan
+opt_step:180240        lr:0.0003              clip_eps:0.2           entropy:0.6902
+2026-03-14 22:34:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.17     total_reward_ma:31.43  loss:-0.01284          fps:2.422e+04
+frame:9.24e+07         wall_t:3815            t:45118                epi:nan
+opt_step:180400        lr:0.0003              clip_eps:0.2           entropy:0.6338
+2026-03-14 22:34:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.24     total_reward_ma:31.42  loss:-0.01027          fps:2.423e+04
+frame:9.25e+07         wall_t:3818            t:45167                epi:nan
+opt_step:180640        lr:0.0003              clip_eps:0.2           entropy:0.5874
+2026-03-14 22:34:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.35     total_reward_ma:31.42  loss:-0.01174          fps:2.423e+04
+frame:9.26e+07         wall_t:3821            t:45215                epi:nan
+opt_step:180800        lr:0.0003              clip_eps:0.2           entropy:0.469
+2026-03-14 22:34:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.74     total_reward_ma:31.40  loss:-0.0119           fps:2.424e+04
+frame:9.27e+07         wall_t:3825            t:45264                epi:nan
+opt_step:181040        lr:0.0003              clip_eps:0.2           entropy:0.6096
+2026-03-14 22:34:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.45     total_reward_ma:31.41  loss:-0.01269          fps:2.425e+04
+frame:9.28e+07         wall_t:3827            t:45313                epi:nan
+opt_step:181200        lr:0.0003              clip_eps:0.2           entropy:0.4268
+2026-03-14 22:34:27 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.47     total_reward_ma:31.44  loss:-0.01083          fps:2.425e+04
+frame:9.29e+07         wall_t:3831            t:45362                epi:nan
+opt_step:181440        lr:0.0003              clip_eps:0.2           entropy:0.4419
+2026-03-14 22:34:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.63     total_reward_ma:31.44  loss:-0.009416         fps:2.426e+04
+frame:9.30e+07         wall_t:3834            t:45411                epi:nan
+opt_step:181600        lr:0.0003              clip_eps:0.2           entropy:0.4075
+2026-03-14 22:34:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.61     total_reward_ma:31.44  loss:-0.01075          fps:2.426e+04
+frame:9.31e+07         wall_t:3837            t:45459                epi:nan
+opt_step:181760        lr:0.0003              clip_eps:0.2           entropy:0.5541
+2026-03-14 22:34:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.37     total_reward_ma:31.43  loss:-0.01206          fps:2.427e+04
+frame:9.32e+07         wall_t:3840            t:45508                epi:nan
+opt_step:182000        lr:0.0003              clip_eps:0.2           entropy:0.4817
+2026-03-14 22:34:39 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.72     total_reward_ma:31.43  loss:-0.01156          fps:2.428e+04
+frame:9.33e+07         wall_t:3843            t:45557                epi:nan
+opt_step:182160        lr:0.0003              clip_eps:0.2           entropy:0.4313
+2026-03-14 22:34:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.20     total_reward_ma:31.43  loss:-0.01238          fps:2.429e+04
+frame:9.34e+07         wall_t:3846            t:45606                epi:nan
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+2026-03-14 22:34:45 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.93     total_reward_ma:31.45  loss:-0.01204          fps:2.429e+04
+frame:9.35e+07         wall_t:3849            t:45655                epi:nan
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+2026-03-14 22:34:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.77     total_reward_ma:31.46  loss:-0.01031          fps:2.43e+04
+frame:9.36e+07         wall_t:3852            t:45704                epi:nan
+opt_step:182800        lr:0.0003              clip_eps:0.2           entropy:0.2864
+2026-03-14 22:34:51 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.98     total_reward_ma:31.46  loss:-0.01151          fps:2.431e+04
+frame:9.37e+07         wall_t:3855            t:45752                epi:nan
+opt_step:182960        lr:0.0003              clip_eps:0.2           entropy:0.298
+2026-03-14 22:34:54 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.77     total_reward_ma:31.49  loss:-0.01198          fps:2.431e+04
+frame:9.38e+07         wall_t:3858            t:45801                epi:nan
+opt_step:183200        lr:0.0003              clip_eps:0.2           entropy:0.3671
+2026-03-14 22:34:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.52     total_reward_ma:31.50  loss:-0.01072          fps:2.432e+04
+frame:9.39e+07         wall_t:3861            t:45850                epi:nan
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+2026-03-14 22:35:00 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.39     total_reward_ma:31.53  loss:-0.009854         fps:2.433e+04
+frame:9.40e+07         wall_t:3863            t:45899                epi:nan
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+2026-03-14 22:35:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.41     total_reward_ma:31.58  loss:-0.01079          fps:2.433e+04
+frame:9.41e+07         wall_t:3867            t:45948                epi:nan
+opt_step:183760        lr:0.0003              clip_eps:0.2           entropy:0.2839
+2026-03-14 22:35:06 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.90     total_reward_ma:31.60  loss:-0.01136          fps:2.435e+04
+frame:9.42e+07         wall_t:3869            t:45997                epi:nan
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+2026-03-14 22:35:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.32     total_reward_ma:31.63  loss:-0.01017          fps:2.435e+04
+frame:9.43e+07         wall_t:3873            t:46045                epi:nan
+opt_step:184160        lr:0.0003              clip_eps:0.2           entropy:0.4587
+2026-03-14 22:35:12 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.46     total_reward_ma:31.66  loss:-0.009298         fps:2.436e+04
+frame:9.44e+07         wall_t:3876            t:46094                epi:nan
+opt_step:184320        lr:0.0003              clip_eps:0.2           entropy:0.4495
+2026-03-14 22:35:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.60     total_reward_ma:31.65  loss:-0.009956         fps:2.436e+04
+frame:9.45e+07         wall_t:3879            t:46143                epi:nan
+opt_step:184560        lr:0.0003              clip_eps:0.2           entropy:0.4567
+2026-03-14 22:35:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.32     total_reward_ma:31.67  loss:-0.0111           fps:2.437e+04
+frame:9.46e+07         wall_t:3882            t:46192                epi:nan
+opt_step:184720        lr:0.0003              clip_eps:0.2           entropy:0.4555
+2026-03-14 22:35:21 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.47e+07         wall_t:3885            t:46241                epi:nan
+opt_step:184960        lr:0.0003              clip_eps:0.2           entropy:0.4844
+2026-03-14 22:35:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.48e+07         wall_t:3887            t:46290                epi:nan
+opt_step:185120        lr:0.0003              clip_eps:0.2           entropy:0.5731
+2026-03-14 22:35:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.49e+07         wall_t:3890            t:46338                epi:nan
+opt_step:185280        lr:0.0003              clip_eps:0.2           entropy:0.4504
+2026-03-14 22:35:29 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.50e+07         wall_t:3893            t:46387                epi:nan
+opt_step:185520        lr:0.0003              clip_eps:0.2           entropy:0.552
+2026-03-14 22:35:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.51e+07         wall_t:3896            t:46436                epi:nan
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+2026-03-14 22:35:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.52e+07         wall_t:3900            t:46485                epi:nan
+opt_step:185920        lr:0.0003              clip_eps:0.2           entropy:0.6474
+2026-03-14 22:35:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.53e+07         wall_t:3902            t:46534                epi:nan
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+2026-03-14 22:35:42 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.54e+07         wall_t:3906            t:46583                epi:nan
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+2026-03-14 22:35:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.55e+07         wall_t:3908            t:46631                epi:nan
+opt_step:186480        lr:0.0003              clip_eps:0.2           entropy:0.6257
+2026-03-14 22:35:48 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.93     total_reward_ma:31.82  loss:-0.0136           fps:2.444e+04
+frame:9.56e+07         wall_t:3911            t:46680                epi:nan
+opt_step:186720        lr:0.0003              clip_eps:0.2           entropy:0.5915
+2026-03-14 22:35:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+frame:9.57e+07         wall_t:3914            t:46729                epi:nan
+opt_step:186880        lr:0.0003              clip_eps:0.2           entropy:0.541
+2026-03-14 22:35:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:30.40     total_reward_ma:31.82  loss:-0.01234          fps:2.446e+04
+frame:9.58e+07         wall_t:3917            t:46778                epi:nan
+opt_step:187040        lr:0.0003              clip_eps:0.2           entropy:0.6349
+2026-03-14 22:35:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.24     total_reward_ma:31.85  loss:-0.01233          fps:2.446e+04
+frame:9.59e+07         wall_t:3920            t:46827                epi:nan
+opt_step:187280        lr:0.0003              clip_eps:0.2           entropy:0.5105
+2026-03-14 22:35:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.38     total_reward_ma:31.83  loss:-0.01142          fps:2.447e+04
+frame:9.60e+07         wall_t:3923            t:46875                epi:nan
+opt_step:187440        lr:0.0003              clip_eps:0.2           entropy:0.607
+2026-03-14 22:36:03 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.14     total_reward_ma:31.81  loss:-0.0124           fps:2.447e+04
+frame:9.61e+07         wall_t:3927            t:46924                epi:nan
+opt_step:187680        lr:0.0003              clip_eps:0.2           entropy:0.552
+2026-03-14 22:36:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.90     total_reward_ma:31.82  loss:-0.01224          fps:2.448e+04
+frame:9.62e+07         wall_t:3929            t:46973                epi:nan
+opt_step:187840        lr:0.0003              clip_eps:0.2           entropy:0.5963
+2026-03-14 22:36:09 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.43     total_reward_ma:31.81  loss:-0.01274          fps:2.449e+04
+frame:9.63e+07         wall_t:3933            t:47022                epi:nan
+opt_step:188080        lr:0.0003              clip_eps:0.2           entropy:0.5931
+2026-03-14 22:36:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.65     total_reward_ma:31.81  loss:-0.01218          fps:2.45e+04
+frame:9.64e+07         wall_t:3935            t:47071                epi:nan
+opt_step:188240        lr:0.0003              clip_eps:0.2           entropy:0.673
+2026-03-14 22:36:15 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.12     total_reward_ma:31.80  loss:-0.01244          fps:2.45e+04
+frame:9.65e+07         wall_t:3939            t:47120                epi:nan
+opt_step:188480        lr:0.0003              clip_eps:0.2           entropy:0.5334
+2026-03-14 22:36:17 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.91     total_reward_ma:31.81  loss:-0.01266          fps:2.451e+04
+frame:9.66e+07         wall_t:3941            t:47168                epi:nan
+opt_step:188640        lr:0.0003              clip_eps:0.2           entropy:0.5071
+2026-03-14 22:36:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.63     total_reward_ma:31.82  loss:-0.01346          fps:2.452e+04
+frame:9.67e+07         wall_t:3944            t:47217                epi:nan
+opt_step:188800        lr:0.0003              clip_eps:0.2           entropy:0.5693
+2026-03-14 22:36:24 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.70     total_reward_ma:31.82  loss:-0.01307          fps:2.452e+04
+frame:9.68e+07         wall_t:3948            t:47266                epi:nan
+opt_step:189040        lr:0.0003              clip_eps:0.2           entropy:0.4989
+2026-03-14 22:36:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.19     total_reward_ma:31.84  loss:-0.01153          fps:2.453e+04
+frame:9.69e+07         wall_t:3950            t:47315                epi:nan
+opt_step:189200        lr:0.0003              clip_eps:0.2           entropy:0.4541
+2026-03-14 22:36:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:31.11     total_reward_ma:31.84  loss:-0.01246          fps:2.453e+04
+frame:9.70e+07         wall_t:3954            t:47364                epi:nan
+opt_step:189440        lr:0.0003              clip_eps:0.2           entropy:0.5876
+2026-03-14 22:36:33 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.84     total_reward_ma:31.85  loss:-0.01129          fps:2.454e+04
+frame:9.71e+07         wall_t:3957            t:47413                epi:nan
+opt_step:189600        lr:0.0003              clip_eps:0.2           entropy:0.5641
+2026-03-14 22:36:36 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.82     total_reward_ma:31.86  loss:-0.01442          fps:2.455e+04
+frame:9.72e+07         wall_t:3960            t:47461                epi:nan
+opt_step:189840        lr:0.0003              clip_eps:0.2           entropy:0.4233
+2026-03-14 22:36:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.97     total_reward_ma:31.87  loss:-0.0105           fps:2.456e+04
+frame:9.73e+07         wall_t:3962            t:47510                epi:nan
+opt_step:190000        lr:0.0003              clip_eps:0.2           entropy:0.324
+2026-03-14 22:36:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.51     total_reward_ma:31.87  loss:-0.00948          fps:2.457e+04
+frame:9.74e+07         wall_t:3965            t:47559                epi:nan
+opt_step:190160        lr:0.0003              clip_eps:0.2           entropy:0.4431
+2026-03-14 22:36:44 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:32.40     total_reward_ma:31.88  loss:-0.009225         fps:2.457e+04
+frame:9.75e+07         wall_t:3968            t:47608                epi:nan
+opt_step:190400        lr:0.0003              clip_eps:0.2           entropy:0.3644
+2026-03-14 22:36:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.85     total_reward_ma:31.89  loss:-0.01135          fps:2.458e+04
+frame:9.76e+07         wall_t:3971            t:47657                epi:nan
+opt_step:190560        lr:0.0003              clip_eps:0.2           entropy:0.3844
+2026-03-14 22:36:50 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.53     total_reward_ma:31.91  loss:-0.009953         fps:2.459e+04
+frame:9.77e+07         wall_t:3974            t:47706                epi:nan
+opt_step:190800        lr:0.0003              clip_eps:0.2           entropy:0.3207
+2026-03-14 22:36:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:35.50     total_reward_ma:31.95  loss:-0.0125           fps:2.459e+04
+frame:9.78e+07         wall_t:3977            t:47754                epi:nan
+opt_step:190960        lr:0.0003              clip_eps:0.2           entropy:0.4206
+2026-03-14 22:36:56 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.86     total_reward_ma:31.98  loss:-0.01114          fps:2.46e+04
+frame:9.79e+07         wall_t:3980            t:47803                epi:nan
+opt_step:191200        lr:0.0003              clip_eps:0.2           entropy:0.2934
+2026-03-14 22:36:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.88     total_reward_ma:31.99  loss:-0.01066          fps:2.46e+04
+frame:9.80e+07         wall_t:3983            t:47852                epi:nan
+opt_step:191360        lr:0.0003              clip_eps:0.2           entropy:0.334
+2026-03-14 22:37:02 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.93     total_reward_ma:32.01  loss:-0.01214          fps:2.461e+04
+frame:9.81e+07         wall_t:3986            t:47901                epi:nan
+opt_step:191600        lr:0.0003              clip_eps:0.2           entropy:0.3897
+2026-03-14 22:37:05 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.35     total_reward_ma:32.01  loss:-0.01053          fps:2.462e+04
+frame:9.82e+07         wall_t:3989            t:47950                epi:nan
+opt_step:191760        lr:0.0003              clip_eps:0.2           entropy:0.2156
+2026-03-14 22:37:08 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.97     total_reward_ma:32.03  loss:-0.01348          fps:2.462e+04
+frame:9.83e+07         wall_t:3992            t:47999                epi:nan
+opt_step:191920        lr:0.0003              clip_eps:0.2           entropy:0.3199
+2026-03-14 22:37:11 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.53     total_reward_ma:32.04  loss:-0.01119          fps:2.463e+04
+frame:9.84e+07         wall_t:3995            t:48047                epi:nan
+opt_step:192160        lr:0.0003              clip_eps:0.2           entropy:0.1693
+2026-03-14 22:37:14 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:33.56     total_reward_ma:32.07  loss:-0.01138          fps:2.464e+04
+frame:9.85e+07         wall_t:3998            t:48096                epi:nan
+opt_step:192320        lr:0.0003              clip_eps:0.2           entropy:0.1613
+2026-03-14 22:37:18 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.75     total_reward_ma:32.10  loss:-0.01111          fps:2.464e+04
+frame:9.86e+07         wall_t:4002            t:48145                epi:nan
+opt_step:192560        lr:0.0003              clip_eps:0.2           entropy:0.2058
+2026-03-14 22:37:20 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.02     total_reward_ma:32.11  loss:-0.01132          fps:2.465e+04
+frame:9.87e+07         wall_t:4004            t:48194                epi:nan
+opt_step:192720        lr:0.0003              clip_eps:0.2           entropy:0.1265
+2026-03-14 22:37:23 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.26     total_reward_ma:32.13  loss:-0.01081          fps:2.466e+04
+frame:9.88e+07         wall_t:4007            t:48243                epi:nan
+opt_step:192960        lr:0.0003              clip_eps:0.2           entropy:0.201
+2026-03-14 22:37:26 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:35.36     total_reward_ma:32.19  loss:-0.01138          fps:2.466e+04
+frame:9.89e+07         wall_t:4010            t:48292                epi:nan
+opt_step:193120        lr:0.0003              clip_eps:0.2           entropy:0.1356
+2026-03-14 22:37:30 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:35.07     total_reward_ma:32.25  loss:-0.01005          fps:2.467e+04
+frame:9.90e+07         wall_t:4013            t:48340                epi:nan
+opt_step:193360        lr:0.0003              clip_eps:0.2           entropy:0.1477
+2026-03-14 22:37:32 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:35.11     total_reward_ma:32.29  loss:-0.009737         fps:2.468e+04
+frame:9.91e+07         wall_t:4016            t:48389                epi:nan
+opt_step:193520        lr:0.0003              clip_eps:0.2           entropy:0.1777
+2026-03-14 22:37:35 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:35.20     total_reward_ma:32.34  loss:-0.01197          fps:2.468e+04
+frame:9.92e+07         wall_t:4019            t:48438                epi:nan
+opt_step:193680        lr:0.0003              clip_eps:0.2           entropy:0.195
+2026-03-14 22:37:38 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:34.90     total_reward_ma:32.39  loss:-0.008345         fps:2.469e+04
+frame:9.93e+07         wall_t:4022            t:48487                epi:nan
+opt_step:193920        lr:0.0003              clip_eps:0.2           entropy:0.1165
+2026-03-14 22:37:41 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
+total_reward:35.46     total_reward_ma:32.45  loss:-0.009627         fps:2.47e+04
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+2026-03-14 22:37:47 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:37:53 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:37:57 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:37:59 | INFO | PID:1748 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s0 [train]
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+2026-03-14 22:38:01 | INFO | PID:1748 | slm_lab.lib.logger:info | Session 0 done
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1.log b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1.log
new file mode 100644
index 0000000000000000000000000000000000000000..72d9980d0eacd35516dfd93d67090e358cf4e1ff
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1.log
@@ -0,0 +1,4003 @@
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+2026-03-14 21:35:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:35:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:36:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.70e+06        wall_t:376            t:3272                epi:nan
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+2026-03-14 21:36:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.80e+06        wall_t:381            t:3321                epi:nan
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+2026-03-14 21:37:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.90e+06        wall_t:384            t:3370                epi:nan
+opt_step:13440        lr:0.0003             clip_eps:0.2          entropy:5.187
+2026-03-14 21:37:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.00e+06        wall_t:387            t:3418                epi:nan
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+2026-03-14 21:37:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.10e+06        wall_t:391            t:3467                epi:nan
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+2026-03-14 21:37:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.20e+06        wall_t:395            t:3516                epi:nan
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+2026-03-14 21:37:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.30e+06        wall_t:399            t:3565                epi:nan
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+2026-03-14 21:37:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:37:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:38:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:39:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.16e+07        wall_t:559            t:5665                epi:nan
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+2026-03-14 21:39:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.17e+07        wall_t:562            t:5713                epi:nan
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+2026-03-14 21:40:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:12.14    total_reward_ma:4.87  loss:-0.02491         fps:2.085e+04
+frame:1.18e+07        wall_t:566            t:5762                epi:nan
+opt_step:23040        lr:0.0003             clip_eps:0.2          entropy:3.098
+2026-03-14 21:40:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:13.15    total_reward_ma:5.00  loss:-0.02422         fps:2.088e+04
+frame:1.19e+07        wall_t:570            t:5811                epi:nan
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+2026-03-14 21:40:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.20e+07        wall_t:574            t:5860                epi:nan
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+2026-03-14 21:40:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.21e+07        wall_t:577            t:5909                epi:nan
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+2026-03-14 21:40:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:12.01    total_reward_ma:5.35  loss:-0.02406         fps:2.104e+04
+frame:1.22e+07        wall_t:580            t:5958                epi:nan
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+2026-03-14 21:40:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:12.59    total_reward_ma:5.47  loss:-0.02401         fps:2.106e+04
+frame:1.23e+07        wall_t:584            t:6006                epi:nan
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+2026-03-14 21:40:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:12.14    total_reward_ma:5.59  loss:-0.02202         fps:2.109e+04
+frame:1.24e+07        wall_t:588            t:6055                epi:nan
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+2026-03-14 21:40:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:12.70    total_reward_ma:5.72  loss:-0.02366         fps:2.112e+04
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+2026-03-14 21:40:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:40:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:40:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:40:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:40:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:40:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:40:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:40:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:41:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.58e+07        wall_t:712            t:7715                epi:nan
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+2026-03-14 21:42:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.59e+07        wall_t:717            t:7764                epi:nan
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+2026-03-14 21:42:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:42:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.64e+07         wall_t:735             t:8008                 epi:nan
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+2026-03-14 21:42:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.65e+07         wall_t:739             t:8057                 epi:nan
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+2026-03-14 21:42:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.66e+07         wall_t:743             t:8106                 epi:nan
+opt_step:32400         lr:0.0003              clip_eps:0.2           entropy:2.868
+2026-03-14 21:43:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.67e+07         wall_t:746             t:8155                 epi:nan
+opt_step:32560         lr:0.0003              clip_eps:0.2           entropy:3.047
+2026-03-14 21:43:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:14.83     total_reward_ma:10.88  loss:-0.02232          fps:2.24e+04
+frame:1.68e+07         wall_t:750             t:8204                 epi:nan
+opt_step:32800         lr:0.0003              clip_eps:0.2           entropy:2.877
+2026-03-14 21:43:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.69e+07         wall_t:754             t:8252                 epi:nan
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+2026-03-14 21:43:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:16.32     total_reward_ma:11.05  loss:-0.02432          fps:2.243e+04
+frame:1.70e+07         wall_t:758             t:8301                 epi:nan
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+2026-03-14 21:43:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:15.25     total_reward_ma:11.14  loss:-0.02491          fps:2.247e+04
+frame:1.71e+07         wall_t:761             t:8350                 epi:nan
+opt_step:33360         lr:0.0003              clip_eps:0.2           entropy:3.109
+2026-03-14 21:43:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:16.07     total_reward_ma:11.23  loss:-0.02394          fps:2.249e+04
+frame:1.72e+07         wall_t:765             t:8399                 epi:nan
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+2026-03-14 21:43:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:13.76     total_reward_ma:11.32  loss:-0.02567          fps:2.25e+04
+frame:1.73e+07         wall_t:769             t:8448                 epi:nan
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+2026-03-14 21:43:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:16.50     total_reward_ma:11.43  loss:-0.02468          fps:2.254e+04
+frame:1.74e+07         wall_t:772             t:8497                 epi:nan
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+2026-03-14 21:43:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:15.22     total_reward_ma:11.53  loss:-0.02166          fps:2.255e+04
+frame:1.75e+07         wall_t:776             t:8545                 epi:nan
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+2026-03-14 21:43:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:16.60     total_reward_ma:11.63  loss:-0.02078          fps:2.259e+04
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+2026-03-14 21:43:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:13.72     total_reward_ma:11.71  loss:-0.02426          fps:2.258e+04
+frame:1.77e+07         wall_t:784             t:8643                 epi:nan
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+2026-03-14 21:43:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:14.20     total_reward_ma:11.80  loss:-0.0245           fps:2.262e+04
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+2026-03-14 21:43:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:15.93     total_reward_ma:11.90  loss:-0.02233          fps:2.263e+04
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+2026-03-14 21:43:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:12.01     total_reward_ma:11.96  loss:-0.02336          fps:2.264e+04
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+2026-03-14 21:43:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:13.59     total_reward_ma:12.03  loss:-0.02461          fps:2.268e+04
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+2026-03-14 21:43:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:13.83     total_reward_ma:12.11  loss:-0.02232          fps:2.269e+04
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+2026-03-14 21:44:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:15.99     total_reward_ma:12.54  loss:-0.02371          fps:2.282e+04
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+2026-03-14 21:44:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:1.91e+07         wall_t:835             t:9327                 epi:nan
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+2026-03-14 21:44:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:44:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.06e+07         wall_t:889             t:10059                epi:nan
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+2026-03-14 21:45:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.07e+07         wall_t:893             t:10108                epi:nan
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+2026-03-14 21:45:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.08e+07         wall_t:897             t:10157                epi:nan
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+2026-03-14 21:45:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.10e+07         wall_t:904             t:10254                epi:nan
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+2026-03-14 21:45:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.12e+07         wall_t:911             t:10352                epi:nan
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+2026-03-14 21:45:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.13e+07         wall_t:915             t:10401                epi:nan
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+2026-03-14 21:45:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:45:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.15e+07         wall_t:922             t:10499                epi:nan
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+2026-03-14 21:46:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.16e+07         wall_t:926             t:10547                epi:nan
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+2026-03-14 21:46:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:17.80     total_reward_ma:14.33  loss:-0.02362          fps:2.336e+04
+frame:2.17e+07         wall_t:929             t:10596                epi:nan
+opt_step:42320         lr:0.0003              clip_eps:0.2           entropy:2.905
+2026-03-14 21:46:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.18e+07         wall_t:933             t:10645                epi:nan
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+2026-03-14 21:46:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.19e+07         wall_t:936             t:10694                epi:nan
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+2026-03-14 21:46:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.20e+07         wall_t:940             t:10743                epi:nan
+opt_step:42960         lr:0.0003              clip_eps:0.2           entropy:2.778
+2026-03-14 21:46:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:17.71     total_reward_ma:14.58  loss:-0.02384          fps:2.341e+04
+frame:2.21e+07         wall_t:944             t:10792                epi:nan
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+2026-03-14 21:46:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:16.55     total_reward_ma:14.63  loss:-0.02028          fps:2.342e+04
+frame:2.22e+07         wall_t:948             t:10840                epi:nan
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+2026-03-14 21:46:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.07     total_reward_ma:14.68  loss:-0.02196          fps:2.345e+04
+frame:2.23e+07         wall_t:951             t:10889                epi:nan
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+2026-03-14 21:46:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.05     total_reward_ma:14.75  loss:-0.02249          fps:2.348e+04
+frame:2.24e+07         wall_t:954             t:10938                epi:nan
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+2026-03-14 21:46:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.25e+07         wall_t:958             t:10987                epi:nan
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+2026-03-14 21:46:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.26e+07         wall_t:962             t:11036                epi:nan
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+2026-03-14 21:46:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:17.10     total_reward_ma:14.93  loss:-0.02362          fps:2.35e+04
+frame:2.27e+07         wall_t:966             t:11084                epi:nan
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+2026-03-14 21:46:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:17.05     total_reward_ma:14.99  loss:-0.02486          fps:2.353e+04
+frame:2.28e+07         wall_t:969             t:11133                epi:nan
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+2026-03-14 21:46:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:16.51     total_reward_ma:15.04  loss:-0.02292          fps:2.354e+04
+frame:2.29e+07         wall_t:973             t:11182                epi:nan
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+2026-03-14 21:46:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:46:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.73     total_reward_ma:15.17  loss:-0.02476          fps:2.355e+04
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+2026-03-14 21:47:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:15.42     total_reward_ma:15.20  loss:-0.02258          fps:2.358e+04
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+2026-03-14 21:47:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:17.26     total_reward_ma:15.43  loss:-0.02246          fps:2.365e+04
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+2026-03-14 21:47:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.40e+07         wall_t:1012            t:11719                epi:nan
+opt_step:46800         lr:0.0003              clip_eps:0.2           entropy:2.743
+2026-03-14 21:47:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.41e+07         wall_t:1017            t:11768                epi:nan
+opt_step:47040         lr:0.0003              clip_eps:0.2           entropy:2.757
+2026-03-14 21:47:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.43e+07         wall_t:1024            t:11866                epi:nan
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+2026-03-14 21:47:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.44e+07         wall_t:1027            t:11915                epi:nan
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+2026-03-14 21:47:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:47:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:48:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:48:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.50e+07         wall_t:1049            t:12208                epi:nan
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+2026-03-14 21:48:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:48:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.52e+07         wall_t:1057            t:12305                epi:nan
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+2026-03-14 21:48:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.53e+07         wall_t:1060            t:12354                epi:nan
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+2026-03-14 21:48:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.54e+07         wall_t:1064            t:12403                epi:nan
+opt_step:49600         lr:0.0003              clip_eps:0.2           entropy:2.641
+2026-03-14 21:48:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.55e+07         wall_t:1067            t:12452                epi:nan
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+2026-03-14 21:48:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.56e+07         wall_t:1072            t:12500                epi:nan
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+2026-03-14 21:48:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.11     total_reward_ma:16.42  loss:-0.0217           fps:2.391e+04
+frame:2.57e+07         wall_t:1075            t:12549                epi:nan
+opt_step:50160         lr:0.0003              clip_eps:0.2           entropy:2.491
+2026-03-14 21:48:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.01     total_reward_ma:16.47  loss:-0.0219           fps:2.393e+04
+frame:2.58e+07         wall_t:1078            t:12598                epi:nan
+opt_step:50320         lr:0.0003              clip_eps:0.2           entropy:2.905
+2026-03-14 21:48:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.59e+07         wall_t:1082            t:12647                epi:nan
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+2026-03-14 21:48:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.60e+07         wall_t:1086            t:12696                epi:nan
+opt_step:50720         lr:0.0003              clip_eps:0.2           entropy:2.865
+2026-03-14 21:48:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.61e+07         wall_t:1090            t:12745                epi:nan
+opt_step:50960         lr:0.0003              clip_eps:0.2           entropy:2.896
+2026-03-14 21:48:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.34     total_reward_ma:16.60  loss:-0.02239          fps:2.397e+04
+frame:2.62e+07         wall_t:1093            t:12793                epi:nan
+opt_step:51120         lr:0.0003              clip_eps:0.2           entropy:2.758
+2026-03-14 21:48:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.58     total_reward_ma:16.63  loss:-0.02272          fps:2.397e+04
+frame:2.63e+07         wall_t:1097            t:12842                epi:nan
+opt_step:51360         lr:0.0003              clip_eps:0.2           entropy:2.987
+2026-03-14 21:48:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.67     total_reward_ma:16.69  loss:-0.02033          fps:2.398e+04
+frame:2.64e+07         wall_t:1101            t:12891                epi:nan
+opt_step:51520         lr:0.0003              clip_eps:0.2           entropy:2.715
+2026-03-14 21:49:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:2.65e+07         wall_t:1104            t:12940                epi:nan
+opt_step:51760         lr:0.0003              clip_eps:0.2           entropy:2.721
+2026-03-14 21:49:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.44     total_reward_ma:16.82  loss:-0.02273          fps:2.401e+04
+frame:2.66e+07         wall_t:1108            t:12989                epi:nan
+opt_step:51920         lr:0.0003              clip_eps:0.2           entropy:2.592
+2026-03-14 21:49:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.44     total_reward_ma:16.86  loss:-0.02396          fps:2.403e+04
+frame:2.67e+07         wall_t:1111            t:13038                epi:nan
+opt_step:52080         lr:0.0003              clip_eps:0.2           entropy:2.736
+2026-03-14 21:49:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.65     total_reward_ma:16.92  loss:-0.01978          fps:2.404e+04
+frame:2.68e+07         wall_t:1115            t:13086                epi:nan
+opt_step:52320         lr:0.0003              clip_eps:0.2           entropy:2.536
+2026-03-14 21:49:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.77     total_reward_ma:16.98  loss:-0.02033          fps:2.404e+04
+frame:2.69e+07         wall_t:1119            t:13135                epi:nan
+opt_step:52480         lr:0.0003              clip_eps:0.2           entropy:2.68
+2026-03-14 21:49:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.49     total_reward_ma:17.01  loss:-0.02382          fps:2.404e+04
+frame:2.70e+07         wall_t:1123            t:13184                epi:nan
+opt_step:52720         lr:0.0003              clip_eps:0.2           entropy:2.694
+2026-03-14 21:49:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.81     total_reward_ma:17.05  loss:-0.02068          fps:2.407e+04
+frame:2.71e+07         wall_t:1126            t:13233                epi:nan
+opt_step:52880         lr:0.0003              clip_eps:0.2           entropy:2.525
+2026-03-14 21:49:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.00     total_reward_ma:17.09  loss:-0.02176          fps:2.407e+04
+frame:2.72e+07         wall_t:1130            t:13282                epi:nan
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+2026-03-14 21:49:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.24     total_reward_ma:17.13  loss:-0.02334          fps:2.41e+04
+frame:2.73e+07         wall_t:1133            t:13331                epi:nan
+opt_step:53280         lr:0.0003              clip_eps:0.2           entropy:3.03
+2026-03-14 21:49:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.20     total_reward_ma:17.18  loss:-0.02027          fps:2.412e+04
+frame:2.74e+07         wall_t:1136            t:13379                epi:nan
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+2026-03-14 21:49:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.57     total_reward_ma:17.23  loss:-0.02126          fps:2.412e+04
+frame:2.75e+07         wall_t:1140            t:13428                epi:nan
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+2026-03-14 21:49:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.19     total_reward_ma:17.27  loss:-0.02075          fps:2.415e+04
+frame:2.76e+07         wall_t:1143            t:13477                epi:nan
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+2026-03-14 21:49:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.52     total_reward_ma:17.35  loss:-0.02054          fps:2.415e+04
+frame:2.77e+07         wall_t:1147            t:13526                epi:nan
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+2026-03-14 21:49:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.46     total_reward_ma:17.40  loss:-0.02173          fps:2.418e+04
+frame:2.78e+07         wall_t:1150            t:13575                epi:nan
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+2026-03-14 21:49:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.07     total_reward_ma:17.43  loss:-0.02203          fps:2.418e+04
+frame:2.79e+07         wall_t:1154            t:13624                epi:nan
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+2026-03-14 21:49:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.87     total_reward_ma:17.52  loss:-0.02296          fps:2.42e+04
+frame:2.80e+07         wall_t:1157            t:13672                epi:nan
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+2026-03-14 21:49:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.21     total_reward_ma:17.59  loss:-0.02008          fps:2.42e+04
+frame:2.81e+07         wall_t:1161            t:13721                epi:nan
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+2026-03-14 21:50:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.70     total_reward_ma:17.65  loss:-0.02248          fps:2.421e+04
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+2026-03-14 21:50:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:19.51     total_reward_ma:17.70  loss:-0.0246           fps:2.423e+04
+frame:2.83e+07         wall_t:1168            t:13819                epi:nan
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+2026-03-14 21:50:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.38     total_reward_ma:17.79  loss:-0.02222          fps:2.423e+04
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+2026-03-14 21:50:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.60     total_reward_ma:17.85  loss:-0.02134          fps:2.426e+04
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+2026-03-14 21:50:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.13     total_reward_ma:17.91  loss:-0.02189          fps:2.426e+04
+frame:2.86e+07         wall_t:1179            t:13965                epi:nan
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+2026-03-14 21:50:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:17.88     total_reward_ma:17.94  loss:-0.0232           fps:2.426e+04
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+2026-03-14 21:50:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.34     total_reward_ma:17.98  loss:-0.02316          fps:2.426e+04
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+2026-03-14 21:50:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.59     total_reward_ma:18.04  loss:-0.02321          fps:2.429e+04
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+2026-03-14 21:50:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:50:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:50:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:50:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:50:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:50:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:50:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:50:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:50:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.06e+07         wall_t:1252            t:14942                epi:nan
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+2026-03-14 21:51:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.07e+07         wall_t:1255            t:14991                epi:nan
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+2026-03-14 21:51:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.10e+07         wall_t:1266            t:15137                epi:nan
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+2026-03-14 21:51:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.11e+07         wall_t:1270            t:15186                epi:nan
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+2026-03-14 21:51:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.12e+07         wall_t:1273            t:15235                epi:nan
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+2026-03-14 21:51:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:51:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.14e+07         wall_t:1280            t:15333                epi:nan
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+2026-03-14 21:52:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.15e+07         wall_t:1284            t:15381                epi:nan
+opt_step:61520         lr:0.0003              clip_eps:0.2           entropy:3.017
+2026-03-14 21:52:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.73     total_reward_ma:19.38  loss:-0.02135          fps:2.453e+04
+frame:3.16e+07         wall_t:1288            t:15430                epi:nan
+opt_step:61680         lr:0.0003              clip_eps:0.2           entropy:2.783
+2026-03-14 21:52:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.26     total_reward_ma:19.42  loss:-0.02356          fps:2.456e+04
+frame:3.17e+07         wall_t:1291            t:15479                epi:nan
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+2026-03-14 21:52:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.31     total_reward_ma:19.45  loss:-0.02363          fps:2.456e+04
+frame:3.18e+07         wall_t:1295            t:15528                epi:nan
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+2026-03-14 21:52:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.70     total_reward_ma:19.47  loss:-0.02245          fps:2.458e+04
+frame:3.19e+07         wall_t:1298            t:15577                epi:nan
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+2026-03-14 21:52:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.20e+07         wall_t:1302            t:15625                epi:nan
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+2026-03-14 21:52:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.58     total_reward_ma:19.53  loss:-0.02439          fps:2.46e+04
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+2026-03-14 21:52:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:18.70     total_reward_ma:19.56  loss:-0.02329          fps:2.46e+04
+frame:3.22e+07         wall_t:1309            t:15723                epi:nan
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+2026-03-14 21:52:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.87     total_reward_ma:19.59  loss:-0.02334          fps:2.46e+04
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+2026-03-14 21:52:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.58     total_reward_ma:19.63  loss:-0.023            fps:2.46e+04
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+2026-03-14 21:52:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.67     total_reward_ma:19.68  loss:-0.02517          fps:2.462e+04
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+2026-03-14 21:52:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.48     total_reward_ma:19.70  loss:-0.02328          fps:2.464e+04
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+2026-03-14 21:52:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.22     total_reward_ma:19.76  loss:-0.02255          fps:2.464e+04
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+2026-03-14 21:52:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:52:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:52:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.90     total_reward_ma:19.90  loss:-0.02269          fps:2.468e+04
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+2026-03-14 21:52:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.24     total_reward_ma:20.25  loss:-0.02192          fps:2.473e+04
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+2026-03-14 21:53:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:53:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.54e+07         wall_t:1424            t:17286                epi:nan
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+2026-03-14 21:54:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.55e+07         wall_t:1427            t:17334                epi:nan
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+2026-03-14 21:54:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.56e+07         wall_t:1431            t:17383                epi:nan
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+2026-03-14 21:54:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.58e+07         wall_t:1439            t:17481                epi:nan
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+2026-03-14 21:54:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.61e+07         wall_t:1450            t:17627                epi:nan
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+2026-03-14 21:54:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:54:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.63e+07         wall_t:1457            t:17725                epi:nan
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+2026-03-14 21:54:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.34     total_reward_ma:21.03  loss:-0.02063          fps:2.492e+04
+frame:3.64e+07         wall_t:1461            t:17774                epi:nan
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+2026-03-14 21:55:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.50     total_reward_ma:21.09  loss:-0.02185          fps:2.492e+04
+frame:3.65e+07         wall_t:1465            t:17823                epi:nan
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+2026-03-14 21:55:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.50     total_reward_ma:21.10  loss:-0.02173          fps:2.493e+04
+frame:3.66e+07         wall_t:1468            t:17872                epi:nan
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+2026-03-14 21:55:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.30     total_reward_ma:21.13  loss:-0.02379          fps:2.493e+04
+frame:3.67e+07         wall_t:1472            t:17920                epi:nan
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+2026-03-14 21:55:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.86     total_reward_ma:21.14  loss:-0.02298          fps:2.495e+04
+frame:3.68e+07         wall_t:1475            t:17969                epi:nan
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+2026-03-14 21:55:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.08     total_reward_ma:21.17  loss:-0.02187          fps:2.497e+04
+frame:3.69e+07         wall_t:1478            t:18018                epi:nan
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+2026-03-14 21:55:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.18     total_reward_ma:21.19  loss:-0.02255          fps:2.495e+04
+frame:3.70e+07         wall_t:1483            t:18067                epi:nan
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+2026-03-14 21:55:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.54     total_reward_ma:21.21  loss:-0.02169          fps:2.497e+04
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+2026-03-14 21:55:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.29     total_reward_ma:21.22  loss:-0.02045          fps:2.497e+04
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+2026-03-14 21:55:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:55:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.28     total_reward_ma:21.31  loss:-0.02324          fps:2.498e+04
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+2026-03-14 21:55:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.63     total_reward_ma:21.33  loss:-0.02037          fps:2.5e+04
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+2026-03-14 21:55:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.94     total_reward_ma:21.35  loss:-0.01982          fps:2.5e+04
+frame:3.76e+07         wall_t:1504            t:18360                epi:nan
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+2026-03-14 21:55:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.74     total_reward_ma:21.35  loss:-0.02225          fps:2.502e+04
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+2026-03-14 21:55:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.31     total_reward_ma:21.37  loss:-0.02217          fps:2.502e+04
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+2026-03-14 21:55:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.93     total_reward_ma:21.39  loss:-0.02283          fps:2.502e+04
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+2026-03-14 21:55:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.31     total_reward_ma:21.39  loss:-0.02322          fps:2.503e+04
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+2026-03-14 21:55:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.62     total_reward_ma:21.39  loss:-0.02216          fps:2.503e+04
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+2026-03-14 21:56:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.87     total_reward_ma:21.41  loss:-0.02306          fps:2.503e+04
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+2026-03-14 21:56:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.18     total_reward_ma:21.46  loss:-0.02174          fps:2.505e+04
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+2026-03-14 21:56:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.02     total_reward_ma:21.48  loss:-0.01899          fps:2.505e+04
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+2026-03-14 21:56:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.54     total_reward_ma:21.51  loss:-0.0212           fps:2.507e+04
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+2026-03-14 21:56:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.88e+07         wall_t:1548            t:18946                epi:nan
+opt_step:75760         lr:0.0003              clip_eps:0.2           entropy:2.671
+2026-03-14 21:56:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.95e+07         wall_t:1572            t:19288                epi:nan
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+2026-03-14 21:56:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:56:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:57:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:3.99e+07         wall_t:1587            t:19483                epi:nan
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+2026-03-14 21:57:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.00e+07         wall_t:1590            t:19532                epi:nan
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+2026-03-14 21:57:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.01e+07         wall_t:1595            t:19581                epi:nan
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+2026-03-14 21:57:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.02e+07         wall_t:1598            t:19629                epi:nan
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+2026-03-14 21:57:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.03e+07         wall_t:1601            t:19678                epi:nan
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+2026-03-14 21:57:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.38     total_reward_ma:21.89  loss:-0.01886          fps:2.517e+04
+frame:4.04e+07         wall_t:1605            t:19727                epi:nan
+opt_step:78880         lr:0.0003              clip_eps:0.2           entropy:2.067
+2026-03-14 21:57:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.16     total_reward_ma:21.92  loss:-0.01784          fps:2.519e+04
+frame:4.05e+07         wall_t:1608            t:19776                epi:nan
+opt_step:79040         lr:0.0003              clip_eps:0.2           entropy:1.967
+2026-03-14 21:57:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.54     total_reward_ma:21.95  loss:-0.01856          fps:2.519e+04
+frame:4.06e+07         wall_t:1612            t:19825                epi:nan
+opt_step:79280         lr:0.0003              clip_eps:0.2           entropy:2.287
+2026-03-14 21:57:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.07e+07         wall_t:1616            t:19874                epi:nan
+opt_step:79440         lr:0.0003              clip_eps:0.2           entropy:2.28
+2026-03-14 21:57:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.08e+07         wall_t:1619            t:19922                epi:nan
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+2026-03-14 21:57:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.09e+07         wall_t:1623            t:19971                epi:nan
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+2026-03-14 21:57:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.43     total_reward_ma:21.95  loss:-0.02048          fps:2.52e+04
+frame:4.10e+07         wall_t:1627            t:20020                epi:nan
+opt_step:80080         lr:0.0003              clip_eps:0.2           entropy:2.547
+2026-03-14 21:57:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.56     total_reward_ma:21.95  loss:-0.02004          fps:2.522e+04
+frame:4.11e+07         wall_t:1630            t:20069                epi:nan
+opt_step:80240         lr:0.0003              clip_eps:0.2           entropy:2.412
+2026-03-14 21:57:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:20.93     total_reward_ma:21.94  loss:-0.01902          fps:2.523e+04
+frame:4.12e+07         wall_t:1633            t:20118                epi:nan
+opt_step:80400         lr:0.0003              clip_eps:0.2           entropy:2.499
+2026-03-14 21:57:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.43     total_reward_ma:21.95  loss:-0.02002          fps:2.523e+04
+frame:4.13e+07         wall_t:1637            t:20167                epi:nan
+opt_step:80640         lr:0.0003              clip_eps:0.2           entropy:2.296
+2026-03-14 21:57:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.19     total_reward_ma:21.95  loss:-0.01966          fps:2.524e+04
+frame:4.14e+07         wall_t:1640            t:20215                epi:nan
+opt_step:80800         lr:0.0003              clip_eps:0.2           entropy:2.32
+2026-03-14 21:58:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.29     total_reward_ma:21.96  loss:-0.01991          fps:2.524e+04
+frame:4.15e+07         wall_t:1644            t:20264                epi:nan
+opt_step:81040         lr:0.0003              clip_eps:0.2           entropy:2.563
+2026-03-14 21:58:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.93     total_reward_ma:22.00  loss:-0.0188           fps:2.524e+04
+frame:4.16e+07         wall_t:1648            t:20313                epi:nan
+opt_step:81200         lr:0.0003              clip_eps:0.2           entropy:2.11
+2026-03-14 21:58:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.28     total_reward_ma:22.02  loss:-0.02067          fps:2.524e+04
+frame:4.17e+07         wall_t:1652            t:20362                epi:nan
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+2026-03-14 21:58:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.97     total_reward_ma:22.05  loss:-0.01997          fps:2.526e+04
+frame:4.18e+07         wall_t:1655            t:20411                epi:nan
+opt_step:81600         lr:0.0003              clip_eps:0.2           entropy:2.175
+2026-03-14 21:58:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.46     total_reward_ma:22.08  loss:-0.0198           fps:2.527e+04
+frame:4.19e+07         wall_t:1658            t:20459                epi:nan
+opt_step:81760         lr:0.0003              clip_eps:0.2           entropy:2.162
+2026-03-14 21:58:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.89     total_reward_ma:22.10  loss:-0.01988          fps:2.527e+04
+frame:4.20e+07         wall_t:1662            t:20508                epi:nan
+opt_step:82000         lr:0.0003              clip_eps:0.2           entropy:2.299
+2026-03-14 21:58:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.43     total_reward_ma:22.13  loss:-0.02091          fps:2.529e+04
+frame:4.21e+07         wall_t:1665            t:20557                epi:nan
+opt_step:82160         lr:0.0003              clip_eps:0.2           entropy:2.176
+2026-03-14 21:58:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.51     total_reward_ma:22.18  loss:-0.01991          fps:2.529e+04
+frame:4.22e+07         wall_t:1669            t:20606                epi:nan
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+2026-03-14 21:58:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.21     total_reward_ma:22.19  loss:-0.01831          fps:2.53e+04
+frame:4.23e+07         wall_t:1672            t:20655                epi:nan
+opt_step:82560         lr:0.0003              clip_eps:0.2           entropy:2.419
+2026-03-14 21:58:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.70     total_reward_ma:22.22  loss:-0.02031          fps:2.53e+04
+frame:4.24e+07         wall_t:1676            t:20704                epi:nan
+opt_step:82800         lr:0.0003              clip_eps:0.2           entropy:2.247
+2026-03-14 21:58:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.09     total_reward_ma:22.21  loss:-0.01884          fps:2.53e+04
+frame:4.25e+07         wall_t:1680            t:20752                epi:nan
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+2026-03-14 21:58:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.50     total_reward_ma:22.24  loss:-0.01817          fps:2.53e+04
+frame:4.26e+07         wall_t:1684            t:20801                epi:nan
+opt_step:83200         lr:0.0003              clip_eps:0.2           entropy:2.171
+2026-03-14 21:58:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.26     total_reward_ma:22.23  loss:-0.02079          fps:2.531e+04
+frame:4.27e+07         wall_t:1687            t:20850                epi:nan
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+2026-03-14 21:58:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.27     total_reward_ma:22.28  loss:-0.01869          fps:2.533e+04
+frame:4.28e+07         wall_t:1690            t:20899                epi:nan
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+2026-03-14 21:58:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.27     total_reward_ma:22.29  loss:-0.02019          fps:2.533e+04
+frame:4.29e+07         wall_t:1694            t:20948                epi:nan
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+2026-03-14 21:58:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.55     total_reward_ma:22.30  loss:-0.01971          fps:2.534e+04
+frame:4.30e+07         wall_t:1697            t:20997                epi:nan
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+2026-03-14 21:58:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:23.73     total_reward_ma:22.31  loss:-0.02069          fps:2.534e+04
+frame:4.31e+07         wall_t:1701            t:21045                epi:nan
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+2026-03-14 21:59:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.63     total_reward_ma:22.29  loss:-0.01959          fps:2.534e+04
+frame:4.32e+07         wall_t:1705            t:21094                epi:nan
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+2026-03-14 21:59:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.70     total_reward_ma:22.28  loss:-0.01957          fps:2.534e+04
+frame:4.33e+07         wall_t:1709            t:21143                epi:nan
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+2026-03-14 21:59:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.07     total_reward_ma:22.31  loss:-0.0163           fps:2.535e+04
+frame:4.34e+07         wall_t:1712            t:21192                epi:nan
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+2026-03-14 21:59:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.11     total_reward_ma:22.34  loss:-0.01903          fps:2.534e+04
+frame:4.35e+07         wall_t:1717            t:21241                epi:nan
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+2026-03-14 21:59:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.42     total_reward_ma:22.36  loss:-0.01831          fps:2.535e+04
+frame:4.36e+07         wall_t:1720            t:21290                epi:nan
+opt_step:85120         lr:0.0003              clip_eps:0.2           entropy:2.129
+2026-03-14 21:59:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.37e+07         wall_t:1723            t:21338                epi:nan
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+2026-03-14 21:59:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 21:59:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:00:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:00:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:00:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:00:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:00:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.53e+07         wall_t:1781            t:22120                epi:nan
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+2026-03-14 22:00:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.54e+07         wall_t:1784            t:22168                epi:nan
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+2026-03-14 22:00:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.55e+07         wall_t:1788            t:22217                epi:nan
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+2026-03-14 22:00:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.56e+07         wall_t:1792            t:22266                epi:nan
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+2026-03-14 22:00:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.57e+07         wall_t:1795            t:22315                epi:nan
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+2026-03-14 22:00:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.58e+07         wall_t:1799            t:22364                epi:nan
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+2026-03-14 22:00:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.59e+07         wall_t:1802            t:22413                epi:nan
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+2026-03-14 22:00:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.60e+07         wall_t:1806            t:22461                epi:nan
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+2026-03-14 22:00:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.61e+07         wall_t:1810            t:22510                epi:nan
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+2026-03-14 22:00:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:4.62e+07         wall_t:1813            t:22559                epi:nan
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+2026-03-14 22:00:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:22.62     total_reward_ma:23.26  loss:-0.01809          fps:2.548e+04
+frame:4.63e+07         wall_t:1817            t:22608                epi:nan
+opt_step:90400         lr:0.0003              clip_eps:0.2           entropy:2.11
+2026-03-14 22:00:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.51     total_reward_ma:23.28  loss:-0.01507          fps:2.55e+04
+frame:4.64e+07         wall_t:1820            t:22657                epi:nan
+opt_step:90560         lr:0.0003              clip_eps:0.2           entropy:2.015
+2026-03-14 22:01:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.85     total_reward_ma:23.29  loss:-0.01663          fps:2.549e+04
+frame:4.65e+07         wall_t:1824            t:22706                epi:nan
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+2026-03-14 22:01:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.35     total_reward_ma:23.30  loss:-0.01798          fps:2.549e+04
+frame:4.66e+07         wall_t:1828            t:22754                epi:nan
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+2026-03-14 22:01:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.78     total_reward_ma:23.34  loss:-0.01581          fps:2.549e+04
+frame:4.67e+07         wall_t:1832            t:22803                epi:nan
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+2026-03-14 22:01:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:21.16     total_reward_ma:23.33  loss:-0.01574          fps:2.55e+04
+frame:4.68e+07         wall_t:1835            t:22852                epi:nan
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+2026-03-14 22:01:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.54     total_reward_ma:23.37  loss:-0.01745          fps:2.55e+04
+frame:4.69e+07         wall_t:1839            t:22901                epi:nan
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+2026-03-14 22:01:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.70     total_reward_ma:23.40  loss:-0.0179           fps:2.552e+04
+frame:4.70e+07         wall_t:1842            t:22950                epi:nan
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+2026-03-14 22:01:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.28     total_reward_ma:23.45  loss:-0.01892          fps:2.552e+04
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+2026-03-14 22:01:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.58     total_reward_ma:23.49  loss:-0.01607          fps:2.551e+04
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+2026-03-14 22:01:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.74     total_reward_ma:23.49  loss:-0.01943          fps:2.553e+04
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+2026-03-14 22:01:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.34     total_reward_ma:23.52  loss:-0.01765          fps:2.553e+04
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+2026-03-14 22:01:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.06     total_reward_ma:23.54  loss:-0.01805          fps:2.552e+04
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+2026-03-14 22:01:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.07     total_reward_ma:23.59  loss:-0.01718          fps:2.554e+04
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+2026-03-14 22:01:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.52     total_reward_ma:23.61  loss:-0.01782          fps:2.554e+04
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+2026-03-14 22:01:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.07     total_reward_ma:23.64  loss:-0.01765          fps:2.553e+04
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+2026-03-14 22:01:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.94     total_reward_ma:23.69  loss:-0.01852          fps:2.555e+04
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+2026-03-14 22:01:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:01:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.45     total_reward_ma:23.83  loss:-0.01697          fps:2.557e+04
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+2026-03-14 22:02:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:02:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:03:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.10e+07         wall_t:1987            t:24903                epi:nan
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+2026-03-14 22:03:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.11e+07         wall_t:1991            t:24952                epi:nan
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+2026-03-14 22:03:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.12e+07         wall_t:1994            t:25000                epi:nan
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+2026-03-14 22:03:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.32     total_reward_ma:24.80  loss:-0.01879          fps:2.568e+04
+frame:5.13e+07         wall_t:1998            t:25049                epi:nan
+opt_step:100160        lr:0.0003              clip_eps:0.2           entropy:2.129
+2026-03-14 22:03:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.69     total_reward_ma:24.85  loss:-0.018            fps:2.569e+04
+frame:5.14e+07         wall_t:2001            t:25098                epi:nan
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+2026-03-14 22:04:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.09     total_reward_ma:24.91  loss:-0.01671          fps:2.569e+04
+frame:5.15e+07         wall_t:2005            t:25147                epi:nan
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+2026-03-14 22:04:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.34     total_reward_ma:24.92  loss:-0.01661          fps:2.57e+04
+frame:5.16e+07         wall_t:2008            t:25196                epi:nan
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+2026-03-14 22:04:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.20     total_reward_ma:24.95  loss:-0.0214           fps:2.57e+04
+frame:5.17e+07         wall_t:2012            t:25245                epi:nan
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+2026-03-14 22:04:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.34     total_reward_ma:24.99  loss:-0.01864          fps:2.569e+04
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+2026-03-14 22:04:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.13     total_reward_ma:25.04  loss:-0.01703          fps:2.569e+04
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+2026-03-14 22:04:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.30     total_reward_ma:25.11  loss:-0.01919          fps:2.57e+04
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+2026-03-14 22:04:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.11     total_reward_ma:25.15  loss:-0.01792          fps:2.57e+04
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+2026-03-14 22:04:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:04:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.20     total_reward_ma:25.22  loss:-0.01822          fps:2.573e+04
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+2026-03-14 22:04:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.37     total_reward_ma:25.25  loss:-0.01948          fps:2.571e+04
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+2026-03-14 22:04:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:04:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:04:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:04:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:04:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:04:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:04:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.36e+07         wall_t:2080            t:26172                epi:nan
+opt_step:104640        lr:0.0003              clip_eps:0.2           entropy:1.438
+2026-03-14 22:05:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.37e+07         wall_t:2084            t:26221                epi:nan
+opt_step:104880        lr:0.0003              clip_eps:0.2           entropy:1.685
+2026-03-14 22:05:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:05:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.47e+07         wall_t:2117            t:26709                epi:nan
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+2026-03-14 22:05:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:06:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.49e+07         wall_t:2125            t:26807                epi:nan
+opt_step:107200        lr:0.0003              clip_eps:0.2           entropy:1.81
+2026-03-14 22:06:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.50e+07         wall_t:2128            t:26856                epi:nan
+opt_step:107360        lr:0.0003              clip_eps:0.2           entropy:1.784
+2026-03-14 22:06:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.83     total_reward_ma:26.18  loss:-0.01735          fps:2.584e+04
+frame:5.51e+07         wall_t:2132            t:26905                epi:nan
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+2026-03-14 22:06:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.87     total_reward_ma:26.20  loss:-0.01574          fps:2.584e+04
+frame:5.52e+07         wall_t:2136            t:26954                epi:nan
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+2026-03-14 22:06:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.03     total_reward_ma:26.23  loss:-0.01877          fps:2.584e+04
+frame:5.53e+07         wall_t:2140            t:27002                epi:nan
+opt_step:108000        lr:0.0003              clip_eps:0.2           entropy:1.789
+2026-03-14 22:06:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.48     total_reward_ma:26.26  loss:-0.01475          fps:2.585e+04
+frame:5.54e+07         wall_t:2143            t:27051                epi:nan
+opt_step:108160        lr:0.0003              clip_eps:0.2           entropy:1.507
+2026-03-14 22:06:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.52     total_reward_ma:26.28  loss:-0.01793          fps:2.585e+04
+frame:5.55e+07         wall_t:2147            t:27100                epi:nan
+opt_step:108400        lr:0.0003              clip_eps:0.2           entropy:1.845
+2026-03-14 22:06:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.11     total_reward_ma:26.27  loss:-0.0136           fps:2.585e+04
+frame:5.56e+07         wall_t:2151            t:27149                epi:nan
+opt_step:108560        lr:0.0003              clip_eps:0.2           entropy:1.581
+2026-03-14 22:06:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.21     total_reward_ma:26.28  loss:-0.01739          fps:2.586e+04
+frame:5.57e+07         wall_t:2154            t:27198                epi:nan
+opt_step:108720        lr:0.0003              clip_eps:0.2           entropy:1.785
+2026-03-14 22:06:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.20     total_reward_ma:26.31  loss:-0.01496          fps:2.586e+04
+frame:5.58e+07         wall_t:2158            t:27247                epi:nan
+opt_step:108960        lr:0.0003              clip_eps:0.2           entropy:1.533
+2026-03-14 22:06:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.37     total_reward_ma:26.30  loss:-0.0163           fps:2.587e+04
+frame:5.59e+07         wall_t:2161            t:27295                epi:nan
+opt_step:109120        lr:0.0003              clip_eps:0.2           entropy:1.877
+2026-03-14 22:06:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.52     total_reward_ma:26.34  loss:-0.01885          fps:2.587e+04
+frame:5.60e+07         wall_t:2165            t:27344                epi:nan
+opt_step:109360        lr:0.0003              clip_eps:0.2           entropy:1.683
+2026-03-14 22:06:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.59     total_reward_ma:26.36  loss:-0.01549          fps:2.588e+04
+frame:5.61e+07         wall_t:2168            t:27393                epi:nan
+opt_step:109520        lr:0.0003              clip_eps:0.2           entropy:1.596
+2026-03-14 22:06:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.08     total_reward_ma:26.41  loss:-0.016            fps:2.588e+04
+frame:5.62e+07         wall_t:2172            t:27442                epi:nan
+opt_step:109760        lr:0.0003              clip_eps:0.2           entropy:1.509
+2026-03-14 22:06:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.20     total_reward_ma:26.44  loss:-0.01534          fps:2.587e+04
+frame:5.63e+07         wall_t:2176            t:27491                epi:nan
+opt_step:109920        lr:0.0003              clip_eps:0.2           entropy:1.674
+2026-03-14 22:06:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.45     total_reward_ma:26.46  loss:-0.01468          fps:2.587e+04
+frame:5.64e+07         wall_t:2180            t:27540                epi:nan
+opt_step:110160        lr:0.0003              clip_eps:0.2           entropy:1.643
+2026-03-14 22:06:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.56     total_reward_ma:26.47  loss:-0.01582          fps:2.588e+04
+frame:5.65e+07         wall_t:2183            t:27588                epi:nan
+opt_step:110320        lr:0.0003              clip_eps:0.2           entropy:1.63
+2026-03-14 22:07:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.50     total_reward_ma:26.49  loss:-0.01499          fps:2.589e+04
+frame:5.66e+07         wall_t:2186            t:27637                epi:nan
+opt_step:110480        lr:0.0003              clip_eps:0.2           entropy:1.617
+2026-03-14 22:07:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.65     total_reward_ma:26.50  loss:-0.01543          fps:2.589e+04
+frame:5.67e+07         wall_t:2190            t:27686                epi:nan
+opt_step:110720        lr:0.0003              clip_eps:0.2           entropy:1.808
+2026-03-14 22:07:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.51     total_reward_ma:26.54  loss:-0.01722          fps:2.589e+04
+frame:5.68e+07         wall_t:2194            t:27735                epi:nan
+opt_step:110880        lr:0.0003              clip_eps:0.2           entropy:1.512
+2026-03-14 22:07:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.91     total_reward_ma:26.57  loss:-0.01632          fps:2.589e+04
+frame:5.69e+07         wall_t:2198            t:27784                epi:nan
+opt_step:111120        lr:0.0003              clip_eps:0.2           entropy:1.619
+2026-03-14 22:07:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.06     total_reward_ma:26.58  loss:-0.01511          fps:2.59e+04
+frame:5.70e+07         wall_t:2201            t:27833                epi:nan
+opt_step:111280        lr:0.0003              clip_eps:0.2           entropy:1.76
+2026-03-14 22:07:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.11     total_reward_ma:26.59  loss:-0.01642          fps:2.59e+04
+frame:5.71e+07         wall_t:2205            t:27881                epi:nan
+opt_step:111520        lr:0.0003              clip_eps:0.2           entropy:1.643
+2026-03-14 22:07:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.26     total_reward_ma:26.59  loss:-0.01601          fps:2.589e+04
+frame:5.72e+07         wall_t:2209            t:27930                epi:nan
+opt_step:111680        lr:0.0003              clip_eps:0.2           entropy:1.864
+2026-03-14 22:07:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.59     total_reward_ma:26.58  loss:-0.01688          fps:2.59e+04
+frame:5.73e+07         wall_t:2212            t:27979                epi:nan
+opt_step:111840        lr:0.0003              clip_eps:0.2           entropy:1.75
+2026-03-14 22:07:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.49     total_reward_ma:26.60  loss:-0.01593          fps:2.59e+04
+frame:5.74e+07         wall_t:2216            t:28028                epi:nan
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+2026-03-14 22:07:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.14     total_reward_ma:26.60  loss:-0.016            fps:2.59e+04
+frame:5.75e+07         wall_t:2220            t:28077                epi:nan
+opt_step:112240        lr:0.0003              clip_eps:0.2           entropy:1.746
+2026-03-14 22:07:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.20     total_reward_ma:26.61  loss:-0.01561          fps:2.59e+04
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+opt_step:112480        lr:0.0003              clip_eps:0.2           entropy:1.725
+2026-03-14 22:07:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.92     total_reward_ma:26.62  loss:-0.01657          fps:2.591e+04
+frame:5.77e+07         wall_t:2227            t:28174                epi:nan
+opt_step:112640        lr:0.0003              clip_eps:0.2           entropy:1.787
+2026-03-14 22:07:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.36     total_reward_ma:26.66  loss:-0.01553          fps:2.591e+04
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+2026-03-14 22:07:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.76     total_reward_ma:26.66  loss:-0.01627          fps:2.592e+04
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+2026-03-14 22:07:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.87     total_reward_ma:26.67  loss:-0.01681          fps:2.592e+04
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+2026-03-14 22:07:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.88     total_reward_ma:26.75  loss:-0.01636          fps:2.592e+04
+frame:5.83e+07         wall_t:2249            t:28467                epi:nan
+opt_step:113840        lr:0.0003              clip_eps:0.2           entropy:1.507
+2026-03-14 22:08:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.67     total_reward_ma:26.77  loss:-0.01721          fps:2.593e+04
+frame:5.84e+07         wall_t:2252            t:28516                epi:nan
+opt_step:114000        lr:0.0003              clip_eps:0.2           entropy:1.834
+2026-03-14 22:08:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.85e+07         wall_t:2256            t:28565                epi:nan
+opt_step:114240        lr:0.0003              clip_eps:0.2           entropy:1.988
+2026-03-14 22:08:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.86e+07         wall_t:2259            t:28614                epi:nan
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+2026-03-14 22:08:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:08:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.94e+07         wall_t:2289            t:29004                epi:nan
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+2026-03-14 22:08:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.95e+07         wall_t:2292            t:29053                epi:nan
+opt_step:116160        lr:0.0003              clip_eps:0.2           entropy:1.685
+2026-03-14 22:08:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.96e+07         wall_t:2296            t:29102                epi:nan
+opt_step:116400        lr:0.0003              clip_eps:0.2           entropy:1.68
+2026-03-14 22:08:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.97e+07         wall_t:2299            t:29151                epi:nan
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+2026-03-14 22:08:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.98e+07         wall_t:2303            t:29200                epi:nan
+opt_step:116800        lr:0.0003              clip_eps:0.2           entropy:1.837
+2026-03-14 22:09:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:5.99e+07         wall_t:2306            t:29249                epi:nan
+opt_step:116960        lr:0.0003              clip_eps:0.2           entropy:1.684
+2026-03-14 22:09:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.60     total_reward_ma:26.98  loss:-0.01889          fps:2.597e+04
+frame:6.00e+07         wall_t:2310            t:29297                epi:nan
+opt_step:117120        lr:0.0003              clip_eps:0.2           entropy:1.813
+2026-03-14 22:09:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.20     total_reward_ma:27.01  loss:-0.01624          fps:2.597e+04
+frame:6.01e+07         wall_t:2314            t:29346                epi:nan
+opt_step:117360        lr:0.0003              clip_eps:0.2           entropy:1.739
+2026-03-14 22:09:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.75     total_reward_ma:27.02  loss:-0.01625          fps:2.598e+04
+frame:6.02e+07         wall_t:2317            t:29395                epi:nan
+opt_step:117520        lr:0.0003              clip_eps:0.2           entropy:1.716
+2026-03-14 22:09:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.86     total_reward_ma:27.00  loss:-0.01771          fps:2.598e+04
+frame:6.03e+07         wall_t:2321            t:29444                epi:nan
+opt_step:117760        lr:0.0003              clip_eps:0.2           entropy:1.828
+2026-03-14 22:09:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.69     total_reward_ma:27.02  loss:-0.01844          fps:2.599e+04
+frame:6.04e+07         wall_t:2324            t:29493                epi:nan
+opt_step:117920        lr:0.0003              clip_eps:0.2           entropy:1.774
+2026-03-14 22:09:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.99     total_reward_ma:27.04  loss:-0.01872          fps:2.598e+04
+frame:6.05e+07         wall_t:2329            t:29542                epi:nan
+opt_step:118160        lr:0.0003              clip_eps:0.2           entropy:1.589
+2026-03-14 22:09:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.49     total_reward_ma:27.08  loss:-0.01542          fps:2.599e+04
+frame:6.06e+07         wall_t:2332            t:29590                epi:nan
+opt_step:118320        lr:0.0003              clip_eps:0.2           entropy:1.582
+2026-03-14 22:09:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.08     total_reward_ma:27.09  loss:-0.01635          fps:2.6e+04
+frame:6.07e+07         wall_t:2335            t:29639                epi:nan
+opt_step:118480        lr:0.0003              clip_eps:0.2           entropy:1.809
+2026-03-14 22:09:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:24.34     total_reward_ma:27.08  loss:-0.01622          fps:2.599e+04
+frame:6.08e+07         wall_t:2339            t:29688                epi:nan
+opt_step:118720        lr:0.0003              clip_eps:0.2           entropy:1.709
+2026-03-14 22:09:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.25     total_reward_ma:27.06  loss:-0.01742          fps:2.6e+04
+frame:6.09e+07         wall_t:2342            t:29737                epi:nan
+opt_step:118880        lr:0.0003              clip_eps:0.2           entropy:1.856
+2026-03-14 22:09:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.14     total_reward_ma:27.03  loss:-0.01754          fps:2.6e+04
+frame:6.10e+07         wall_t:2346            t:29786                epi:nan
+opt_step:119120        lr:0.0003              clip_eps:0.2           entropy:1.852
+2026-03-14 22:09:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.22     total_reward_ma:27.02  loss:-0.01697          fps:2.6e+04
+frame:6.11e+07         wall_t:2350            t:29834                epi:nan
+opt_step:119280        lr:0.0003              clip_eps:0.2           entropy:1.867
+2026-03-14 22:09:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.27     total_reward_ma:27.04  loss:-0.01688          fps:2.6e+04
+frame:6.12e+07         wall_t:2354            t:29883                epi:nan
+opt_step:119520        lr:0.0003              clip_eps:0.2           entropy:1.553
+2026-03-14 22:09:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.72     total_reward_ma:27.07  loss:-0.01724          fps:2.601e+04
+frame:6.13e+07         wall_t:2357            t:29932                epi:nan
+opt_step:119680        lr:0.0003              clip_eps:0.2           entropy:1.832
+2026-03-14 22:09:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.15     total_reward_ma:27.09  loss:-0.01622          fps:2.601e+04
+frame:6.14e+07         wall_t:2361            t:29981                epi:nan
+opt_step:119920        lr:0.0003              clip_eps:0.2           entropy:1.904
+2026-03-14 22:10:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.29     total_reward_ma:27.06  loss:-0.01712          fps:2.602e+04
+frame:6.15e+07         wall_t:2364            t:30030                epi:nan
+opt_step:120080        lr:0.0003              clip_eps:0.2           entropy:1.947
+2026-03-14 22:10:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.67     total_reward_ma:27.05  loss:-0.0173           fps:2.603e+04
+frame:6.16e+07         wall_t:2367            t:30079                epi:nan
+opt_step:120240        lr:0.0003              clip_eps:0.2           entropy:1.749
+2026-03-14 22:10:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.45     total_reward_ma:27.04  loss:-0.01939          fps:2.602e+04
+frame:6.17e+07         wall_t:2371            t:30127                epi:nan
+opt_step:120480        lr:0.0003              clip_eps:0.2           entropy:2.072
+2026-03-14 22:10:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.31     total_reward_ma:27.04  loss:-0.01524          fps:2.603e+04
+frame:6.18e+07         wall_t:2374            t:30176                epi:nan
+opt_step:120640        lr:0.0003              clip_eps:0.2           entropy:1.696
+2026-03-14 22:10:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.08     total_reward_ma:27.04  loss:-0.01682          fps:2.603e+04
+frame:6.19e+07         wall_t:2378            t:30225                epi:nan
+opt_step:120880        lr:0.0003              clip_eps:0.2           entropy:1.722
+2026-03-14 22:10:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.10     total_reward_ma:27.02  loss:-0.01757          fps:2.603e+04
+frame:6.20e+07         wall_t:2382            t:30274                epi:nan
+opt_step:121040        lr:0.0003              clip_eps:0.2           entropy:1.855
+2026-03-14 22:10:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.56     total_reward_ma:27.03  loss:-0.01836          fps:2.603e+04
+frame:6.21e+07         wall_t:2386            t:30323                epi:nan
+opt_step:121280        lr:0.0003              clip_eps:0.2           entropy:1.626
+2026-03-14 22:10:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.57     total_reward_ma:27.04  loss:-0.01659          fps:2.604e+04
+frame:6.22e+07         wall_t:2389            t:30372                epi:nan
+opt_step:121440        lr:0.0003              clip_eps:0.2           entropy:1.73
+2026-03-14 22:10:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.69     total_reward_ma:27.06  loss:-0.01699          fps:2.603e+04
+frame:6.23e+07         wall_t:2393            t:30420                epi:nan
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+2026-03-14 22:10:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.75     total_reward_ma:27.06  loss:-0.01598          fps:2.604e+04
+frame:6.24e+07         wall_t:2396            t:30469                epi:nan
+opt_step:121840        lr:0.0003              clip_eps:0.2           entropy:1.474
+2026-03-14 22:10:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.24     total_reward_ma:27.09  loss:-0.01589          fps:2.605e+04
+frame:6.25e+07         wall_t:2399            t:30518                epi:nan
+opt_step:122000        lr:0.0003              clip_eps:0.2           entropy:1.714
+2026-03-14 22:10:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.81     total_reward_ma:27.10  loss:-0.01541          fps:2.604e+04
+frame:6.26e+07         wall_t:2404            t:30567                epi:nan
+opt_step:122240        lr:0.0003              clip_eps:0.2           entropy:1.492
+2026-03-14 22:10:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.99     total_reward_ma:27.10  loss:-0.0149           fps:2.605e+04
+frame:6.27e+07         wall_t:2407            t:30616                epi:nan
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+2026-03-14 22:10:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.59     total_reward_ma:27.10  loss:-0.01667          fps:2.605e+04
+frame:6.28e+07         wall_t:2411            t:30665                epi:nan
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+2026-03-14 22:10:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.97     total_reward_ma:27.10  loss:-0.01637          fps:2.606e+04
+frame:6.29e+07         wall_t:2414            t:30713                epi:nan
+opt_step:122800        lr:0.0003              clip_eps:0.2           entropy:1.691
+2026-03-14 22:10:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.12     total_reward_ma:27.11  loss:-0.01748          fps:2.605e+04
+frame:6.30e+07         wall_t:2418            t:30762                epi:nan
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+2026-03-14 22:10:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.81     total_reward_ma:27.11  loss:-0.01581          fps:2.606e+04
+frame:6.31e+07         wall_t:2421            t:30811                epi:nan
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+2026-03-14 22:11:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.85     total_reward_ma:27.13  loss:-0.0164           fps:2.606e+04
+frame:6.32e+07         wall_t:2425            t:30860                epi:nan
+opt_step:123440        lr:0.0003              clip_eps:0.2           entropy:1.607
+2026-03-14 22:11:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.44     total_reward_ma:27.10  loss:-0.01754          fps:2.606e+04
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+opt_step:123600        lr:0.0003              clip_eps:0.2           entropy:1.945
+2026-03-14 22:11:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.34e+07         wall_t:2432            t:30958                epi:nan
+opt_step:123760        lr:0.0003              clip_eps:0.2           entropy:1.875
+2026-03-14 22:11:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.35e+07         wall_t:2436            t:31006                epi:nan
+opt_step:124000        lr:0.0003              clip_eps:0.2           entropy:1.778
+2026-03-14 22:11:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.36e+07         wall_t:2440            t:31055                epi:nan
+opt_step:124160        lr:0.0003              clip_eps:0.2           entropy:1.784
+2026-03-14 22:11:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.37e+07         wall_t:2444            t:31104                epi:nan
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+2026-03-14 22:11:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.38e+07         wall_t:2447            t:31153                epi:nan
+opt_step:124560        lr:0.0003              clip_eps:0.2           entropy:1.765
+2026-03-14 22:11:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.39e+07         wall_t:2451            t:31202                epi:nan
+opt_step:124800        lr:0.0003              clip_eps:0.2           entropy:1.754
+2026-03-14 22:11:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:11:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:11:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.42e+07         wall_t:2461            t:31348                epi:nan
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+2026-03-14 22:11:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.43e+07         wall_t:2465            t:31397                epi:nan
+opt_step:125520        lr:0.0003              clip_eps:0.2           entropy:1.776
+2026-03-14 22:11:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.44e+07         wall_t:2469            t:31446                epi:nan
+opt_step:125760        lr:0.0003              clip_eps:0.2           entropy:1.614
+2026-03-14 22:11:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.45e+07         wall_t:2472            t:31495                epi:nan
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+2026-03-14 22:11:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.46e+07         wall_t:2476            t:31543                epi:nan
+opt_step:126160        lr:0.0003              clip_eps:0.2           entropy:1.773
+2026-03-14 22:11:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.47e+07         wall_t:2479            t:31592                epi:nan
+opt_step:126320        lr:0.0003              clip_eps:0.2           entropy:1.583
+2026-03-14 22:11:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.19     total_reward_ma:27.16  loss:-0.01757          fps:2.61e+04
+frame:6.48e+07         wall_t:2483            t:31641                epi:nan
+opt_step:126560        lr:0.0003              clip_eps:0.2           entropy:1.644
+2026-03-14 22:12:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.16     total_reward_ma:27.18  loss:-0.01439          fps:2.61e+04
+frame:6.49e+07         wall_t:2487            t:31690                epi:nan
+opt_step:126720        lr:0.0003              clip_eps:0.2           entropy:1.765
+2026-03-14 22:12:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.84     total_reward_ma:27.20  loss:-0.01459          fps:2.611e+04
+frame:6.50e+07         wall_t:2490            t:31739                epi:nan
+opt_step:126880        lr:0.0003              clip_eps:0.2           entropy:1.736
+2026-03-14 22:12:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.86     total_reward_ma:27.20  loss:-0.01939          fps:2.61e+04
+frame:6.51e+07         wall_t:2494            t:31788                epi:nan
+opt_step:127120        lr:0.0003              clip_eps:0.2           entropy:1.852
+2026-03-14 22:12:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.86     total_reward_ma:27.21  loss:-0.01637          fps:2.611e+04
+frame:6.52e+07         wall_t:2497            t:31836                epi:nan
+opt_step:127280        lr:0.0003              clip_eps:0.2           entropy:1.561
+2026-03-14 22:12:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.91     total_reward_ma:27.20  loss:-0.01796          fps:2.611e+04
+frame:6.53e+07         wall_t:2501            t:31885                epi:nan
+opt_step:127520        lr:0.0003              clip_eps:0.2           entropy:1.909
+2026-03-14 22:12:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.04     total_reward_ma:27.18  loss:-0.01766          fps:2.611e+04
+frame:6.54e+07         wall_t:2505            t:31934                epi:nan
+opt_step:127680        lr:0.0003              clip_eps:0.2           entropy:1.992
+2026-03-14 22:12:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.74     total_reward_ma:27.18  loss:-0.01573          fps:2.611e+04
+frame:6.55e+07         wall_t:2509            t:31983                epi:nan
+opt_step:127920        lr:0.0003              clip_eps:0.2           entropy:1.939
+2026-03-14 22:12:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.43     total_reward_ma:27.21  loss:-0.0176           fps:2.612e+04
+frame:6.56e+07         wall_t:2512            t:32032                epi:nan
+opt_step:128080        lr:0.0003              clip_eps:0.2           entropy:1.812
+2026-03-14 22:12:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.47     total_reward_ma:27.23  loss:-0.01761          fps:2.611e+04
+frame:6.57e+07         wall_t:2516            t:32081                epi:nan
+opt_step:128320        lr:0.0003              clip_eps:0.2           entropy:1.761
+2026-03-14 22:12:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.95     total_reward_ma:27.24  loss:-0.01778          fps:2.612e+04
+frame:6.58e+07         wall_t:2519            t:32129                epi:nan
+opt_step:128480        lr:0.0003              clip_eps:0.2           entropy:1.857
+2026-03-14 22:12:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.23     total_reward_ma:27.22  loss:-0.01892          fps:2.613e+04
+frame:6.59e+07         wall_t:2522            t:32178                epi:nan
+opt_step:128640        lr:0.0003              clip_eps:0.2           entropy:2.114
+2026-03-14 22:12:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.96     total_reward_ma:27.25  loss:-0.01752          fps:2.613e+04
+frame:6.60e+07         wall_t:2526            t:32227                epi:nan
+opt_step:128880        lr:0.0003              clip_eps:0.2           entropy:2.12
+2026-03-14 22:12:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.60     total_reward_ma:27.25  loss:-0.02077          fps:2.613e+04
+frame:6.61e+07         wall_t:2530            t:32276                epi:nan
+opt_step:129040        lr:0.0003              clip_eps:0.2           entropy:2.304
+2026-03-14 22:12:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.51     total_reward_ma:27.27  loss:-0.01657          fps:2.613e+04
+frame:6.62e+07         wall_t:2534            t:32325                epi:nan
+opt_step:129280        lr:0.0003              clip_eps:0.2           entropy:1.896
+2026-03-14 22:12:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.46     total_reward_ma:27.28  loss:-0.01831          fps:2.613e+04
+frame:6.63e+07         wall_t:2537            t:32374                epi:nan
+opt_step:129440        lr:0.0003              clip_eps:0.2           entropy:2.016
+2026-03-14 22:12:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.18     total_reward_ma:27.30  loss:-0.01777          fps:2.612e+04
+frame:6.64e+07         wall_t:2542            t:32422                epi:nan
+opt_step:129680        lr:0.0003              clip_eps:0.2           entropy:1.975
+2026-03-14 22:13:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.49     total_reward_ma:27.34  loss:-0.01844          fps:2.613e+04
+frame:6.65e+07         wall_t:2545            t:32471                epi:nan
+opt_step:129840        lr:0.0003              clip_eps:0.2           entropy:1.894
+2026-03-14 22:13:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.17     total_reward_ma:27.37  loss:-0.01842          fps:2.613e+04
+frame:6.66e+07         wall_t:2549            t:32520                epi:nan
+opt_step:130080        lr:0.0003              clip_eps:0.2           entropy:1.866
+2026-03-14 22:13:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.09     total_reward_ma:27.38  loss:-0.01665          fps:2.614e+04
+frame:6.67e+07         wall_t:2552            t:32569                epi:nan
+opt_step:130240        lr:0.0003              clip_eps:0.2           entropy:1.957
+2026-03-14 22:13:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.22     total_reward_ma:27.41  loss:-0.01884          fps:2.614e+04
+frame:6.68e+07         wall_t:2556            t:32618                epi:nan
+opt_step:130400        lr:0.0003              clip_eps:0.2           entropy:1.82
+2026-03-14 22:13:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.75     total_reward_ma:27.43  loss:-0.01726          fps:2.613e+04
+frame:6.69e+07         wall_t:2560            t:32667                epi:nan
+opt_step:130640        lr:0.0003              clip_eps:0.2           entropy:1.876
+2026-03-14 22:13:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.39     total_reward_ma:27.46  loss:-0.01655          fps:2.614e+04
+frame:6.70e+07         wall_t:2563            t:32715                epi:nan
+opt_step:130800        lr:0.0003              clip_eps:0.2           entropy:1.572
+2026-03-14 22:13:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.97     total_reward_ma:27.50  loss:-0.01391          fps:2.614e+04
+frame:6.71e+07         wall_t:2567            t:32764                epi:nan
+opt_step:131040        lr:0.0003              clip_eps:0.2           entropy:1.575
+2026-03-14 22:13:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.36     total_reward_ma:27.52  loss:-0.01689          fps:2.615e+04
+frame:6.72e+07         wall_t:2570            t:32813                epi:nan
+opt_step:131200        lr:0.0003              clip_eps:0.2           entropy:1.773
+2026-03-14 22:13:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.67     total_reward_ma:27.57  loss:-0.01642          fps:2.615e+04
+frame:6.73e+07         wall_t:2574            t:32862                epi:nan
+opt_step:131440        lr:0.0003              clip_eps:0.2           entropy:1.8
+2026-03-14 22:13:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.44     total_reward_ma:27.58  loss:-0.01767          fps:2.614e+04
+frame:6.74e+07         wall_t:2578            t:32911                epi:nan
+opt_step:131600        lr:0.0003              clip_eps:0.2           entropy:1.896
+2026-03-14 22:13:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.64     total_reward_ma:27.62  loss:-0.01558          fps:2.615e+04
+frame:6.75e+07         wall_t:2581            t:32959                epi:nan
+opt_step:131760        lr:0.0003              clip_eps:0.2           entropy:1.859
+2026-03-14 22:13:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.25     total_reward_ma:27.65  loss:-0.01741          fps:2.616e+04
+frame:6.76e+07         wall_t:2584            t:33008                epi:nan
+opt_step:132000        lr:0.0003              clip_eps:0.2           entropy:1.796
+2026-03-14 22:13:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.57     total_reward_ma:27.68  loss:-0.01735          fps:2.616e+04
+frame:6.77e+07         wall_t:2588            t:33057                epi:nan
+opt_step:132160        lr:0.0003              clip_eps:0.2           entropy:1.723
+2026-03-14 22:13:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.80     total_reward_ma:27.68  loss:-0.01884          fps:2.616e+04
+frame:6.78e+07         wall_t:2592            t:33106                epi:nan
+opt_step:132400        lr:0.0003              clip_eps:0.2           entropy:1.884
+2026-03-14 22:13:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.63     total_reward_ma:27.69  loss:-0.01761          fps:2.617e+04
+frame:6.79e+07         wall_t:2595            t:33155                epi:nan
+opt_step:132560        lr:0.0003              clip_eps:0.2           entropy:1.826
+2026-03-14 22:13:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.25     total_reward_ma:27.69  loss:-0.02002          fps:2.616e+04
+frame:6.80e+07         wall_t:2599            t:33204                epi:nan
+opt_step:132800        lr:0.0003              clip_eps:0.2           entropy:1.98
+2026-03-14 22:13:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.83     total_reward_ma:27.71  loss:-0.01704          fps:2.617e+04
+frame:6.81e+07         wall_t:2602            t:33252                epi:nan
+opt_step:132960        lr:0.0003              clip_eps:0.2           entropy:1.94
+2026-03-14 22:14:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.09     total_reward_ma:27.72  loss:-0.02             fps:2.617e+04
+frame:6.82e+07         wall_t:2606            t:33301                epi:nan
+opt_step:133200        lr:0.0003              clip_eps:0.2           entropy:1.944
+2026-03-14 22:14:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.79     total_reward_ma:27.71  loss:-0.01835          fps:2.618e+04
+frame:6.83e+07         wall_t:2609            t:33350                epi:nan
+opt_step:133360        lr:0.0003              clip_eps:0.2           entropy:1.719
+2026-03-14 22:14:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.84e+07         wall_t:2612            t:33399                epi:nan
+opt_step:133520        lr:0.0003              clip_eps:0.2           entropy:1.789
+2026-03-14 22:14:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.85e+07         wall_t:2616            t:33448                epi:nan
+opt_step:133760        lr:0.0003              clip_eps:0.2           entropy:1.798
+2026-03-14 22:14:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.86e+07         wall_t:2619            t:33497                epi:nan
+opt_step:133920        lr:0.0003              clip_eps:0.2           entropy:1.909
+2026-03-14 22:14:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.87e+07         wall_t:2623            t:33545                epi:nan
+opt_step:134160        lr:0.0003              clip_eps:0.2           entropy:1.982
+2026-03-14 22:14:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.88e+07         wall_t:2626            t:33594                epi:nan
+opt_step:134320        lr:0.0003              clip_eps:0.2           entropy:1.803
+2026-03-14 22:14:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.89e+07         wall_t:2630            t:33643                epi:nan
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+2026-03-14 22:14:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.90e+07         wall_t:2634            t:33692                epi:nan
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+2026-03-14 22:14:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.91e+07         wall_t:2638            t:33741                epi:nan
+opt_step:134960        lr:0.0003              clip_eps:0.2           entropy:1.72
+2026-03-14 22:14:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.92e+07         wall_t:2641            t:33790                epi:nan
+opt_step:135120        lr:0.0003              clip_eps:0.2           entropy:1.724
+2026-03-14 22:14:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.93e+07         wall_t:2644            t:33838                epi:nan
+opt_step:135280        lr:0.0003              clip_eps:0.2           entropy:1.853
+2026-03-14 22:14:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.94e+07         wall_t:2649            t:33887                epi:nan
+opt_step:135520        lr:0.0003              clip_eps:0.2           entropy:1.607
+2026-03-14 22:14:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.95e+07         wall_t:2652            t:33936                epi:nan
+opt_step:135680        lr:0.0003              clip_eps:0.2           entropy:1.807
+2026-03-14 22:14:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:6.96e+07         wall_t:2656            t:33985                epi:nan
+opt_step:135920        lr:0.0003              clip_eps:0.2           entropy:1.703
+2026-03-14 22:14:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.59     total_reward_ma:27.88  loss:-0.01665          fps:2.621e+04
+frame:6.97e+07         wall_t:2659            t:34034                epi:nan
+opt_step:136080        lr:0.0003              clip_eps:0.2           entropy:1.627
+2026-03-14 22:14:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.55     total_reward_ma:27.89  loss:-0.01753          fps:2.621e+04
+frame:6.98e+07         wall_t:2663            t:34083                epi:nan
+opt_step:136320        lr:0.0003              clip_eps:0.2           entropy:1.677
+2026-03-14 22:15:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.56     total_reward_ma:27.90  loss:-0.01427          fps:2.622e+04
+frame:6.99e+07         wall_t:2666            t:34131                epi:nan
+opt_step:136480        lr:0.0003              clip_eps:0.2           entropy:1.41
+2026-03-14 22:15:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.24     total_reward_ma:27.89  loss:-0.01576          fps:2.622e+04
+frame:7.00e+07         wall_t:2670            t:34180                epi:nan
+opt_step:136720        lr:0.0003              clip_eps:0.2           entropy:1.697
+2026-03-14 22:15:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.85     total_reward_ma:27.90  loss:-0.01655          fps:2.622e+04
+frame:7.01e+07         wall_t:2674            t:34229                epi:nan
+opt_step:136880        lr:0.0003              clip_eps:0.2           entropy:1.598
+2026-03-14 22:15:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.48     total_reward_ma:27.92  loss:-0.01706          fps:2.622e+04
+frame:7.02e+07         wall_t:2677            t:34278                epi:nan
+opt_step:137040        lr:0.0003              clip_eps:0.2           entropy:1.496
+2026-03-14 22:15:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.59     total_reward_ma:27.94  loss:-0.0138           fps:2.622e+04
+frame:7.03e+07         wall_t:2681            t:34327                epi:nan
+opt_step:137280        lr:0.0003              clip_eps:0.2           entropy:1.67
+2026-03-14 22:15:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.53     total_reward_ma:27.93  loss:-0.01723          fps:2.623e+04
+frame:7.04e+07         wall_t:2684            t:34375                epi:nan
+opt_step:137440        lr:0.0003              clip_eps:0.2           entropy:1.736
+2026-03-14 22:15:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.66     total_reward_ma:27.95  loss:-0.01641          fps:2.623e+04
+frame:7.05e+07         wall_t:2688            t:34424                epi:nan
+opt_step:137680        lr:0.0003              clip_eps:0.2           entropy:1.472
+2026-03-14 22:15:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.72     total_reward_ma:27.95  loss:-0.01775          fps:2.624e+04
+frame:7.06e+07         wall_t:2691            t:34473                epi:nan
+opt_step:137840        lr:0.0003              clip_eps:0.2           entropy:1.536
+2026-03-14 22:15:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.11     total_reward_ma:27.97  loss:-0.01723          fps:2.623e+04
+frame:7.07e+07         wall_t:2695            t:34522                epi:nan
+opt_step:138080        lr:0.0003              clip_eps:0.2           entropy:1.485
+2026-03-14 22:15:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.72     total_reward_ma:28.02  loss:-0.01437          fps:2.624e+04
+frame:7.08e+07         wall_t:2698            t:34571                epi:nan
+opt_step:138240        lr:0.0003              clip_eps:0.2           entropy:1.577
+2026-03-14 22:15:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.64     total_reward_ma:28.01  loss:-0.01689          fps:2.624e+04
+frame:7.09e+07         wall_t:2702            t:34620                epi:nan
+opt_step:138480        lr:0.0003              clip_eps:0.2           entropy:1.725
+2026-03-14 22:15:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.04     total_reward_ma:28.03  loss:-0.01496          fps:2.625e+04
+frame:7.10e+07         wall_t:2705            t:34668                epi:nan
+opt_step:138640        lr:0.0003              clip_eps:0.2           entropy:1.546
+2026-03-14 22:15:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.30     total_reward_ma:28.03  loss:-0.01595          fps:2.626e+04
+frame:7.11e+07         wall_t:2708            t:34717                epi:nan
+opt_step:138800        lr:0.0003              clip_eps:0.2           entropy:1.639
+2026-03-14 22:15:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.47     total_reward_ma:28.06  loss:-0.01609          fps:2.624e+04
+frame:7.12e+07         wall_t:2713            t:34766                epi:nan
+opt_step:139040        lr:0.0003              clip_eps:0.2           entropy:1.717
+2026-03-14 22:15:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.62     total_reward_ma:28.05  loss:-0.01623          fps:2.625e+04
+frame:7.13e+07         wall_t:2716            t:34815                epi:nan
+opt_step:139200        lr:0.0003              clip_eps:0.2           entropy:1.549
+2026-03-14 22:15:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.02     total_reward_ma:28.05  loss:-0.01607          fps:2.625e+04
+frame:7.14e+07         wall_t:2720            t:34864                epi:nan
+opt_step:139440        lr:0.0003              clip_eps:0.2           entropy:1.775
+2026-03-14 22:15:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.61     total_reward_ma:28.08  loss:-0.01778          fps:2.626e+04
+frame:7.15e+07         wall_t:2723            t:34913                epi:nan
+opt_step:139600        lr:0.0003              clip_eps:0.2           entropy:1.763
+2026-03-14 22:16:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.91     total_reward_ma:28.11  loss:-0.01773          fps:2.626e+04
+frame:7.16e+07         wall_t:2727            t:34961                epi:nan
+opt_step:139840        lr:0.0003              clip_eps:0.2           entropy:1.694
+2026-03-14 22:16:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.29     total_reward_ma:28.15  loss:-0.01571          fps:2.625e+04
+frame:7.17e+07         wall_t:2731            t:35010                epi:nan
+opt_step:140000        lr:0.0003              clip_eps:0.2           entropy:1.598
+2026-03-14 22:16:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.79     total_reward_ma:28.15  loss:-0.01718          fps:2.626e+04
+frame:7.18e+07         wall_t:2734            t:35059                epi:nan
+opt_step:140160        lr:0.0003              clip_eps:0.2           entropy:1.658
+2026-03-14 22:16:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.29     total_reward_ma:28.12  loss:-0.01864          fps:2.626e+04
+frame:7.19e+07         wall_t:2738            t:35108                epi:nan
+opt_step:140400        lr:0.0003              clip_eps:0.2           entropy:1.717
+2026-03-14 22:16:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.27     total_reward_ma:28.12  loss:-0.01708          fps:2.628e+04
+frame:7.20e+07         wall_t:2740            t:35157                epi:nan
+opt_step:140560        lr:0.0003              clip_eps:0.2           entropy:1.717
+2026-03-14 22:16:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.78     total_reward_ma:28.11  loss:-0.01637          fps:2.628e+04
+frame:7.21e+07         wall_t:2744            t:35206                epi:nan
+opt_step:140800        lr:0.0003              clip_eps:0.2           entropy:1.867
+2026-03-14 22:16:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.32     total_reward_ma:28.09  loss:-0.01738          fps:2.627e+04
+frame:7.22e+07         wall_t:2748            t:35254                epi:nan
+opt_step:140960        lr:0.0003              clip_eps:0.2           entropy:1.724
+2026-03-14 22:16:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.98     total_reward_ma:28.07  loss:-0.0175           fps:26272
+frame:7.23e+07         wall_t:2752            t:35303                epi:nan
+opt_step:141200        lr:0.0003              clip_eps:0.2           entropy:1.677
+2026-03-14 22:16:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.26     total_reward_ma:28.05  loss:-0.01763          fps:2.628e+04
+frame:7.24e+07         wall_t:2755            t:35352                epi:nan
+opt_step:141360        lr:0.0003              clip_eps:0.2           entropy:1.721
+2026-03-14 22:16:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.07     total_reward_ma:28.02  loss:-0.01944          fps:2.628e+04
+frame:7.25e+07         wall_t:2759            t:35401                epi:nan
+opt_step:141600        lr:0.0003              clip_eps:0.2           entropy:1.839
+2026-03-14 22:16:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.63     total_reward_ma:28.02  loss:-0.01591          fps:2.629e+04
+frame:7.26e+07         wall_t:2762            t:35450                epi:nan
+opt_step:141760        lr:0.0003              clip_eps:0.2           entropy:1.8
+2026-03-14 22:16:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.38     total_reward_ma:28.01  loss:-0.01705          fps:2.628e+04
+frame:7.27e+07         wall_t:2766            t:35499                epi:nan
+opt_step:141920        lr:0.0003              clip_eps:0.2           entropy:1.784
+2026-03-14 22:16:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.99     total_reward_ma:27.99  loss:-0.01871          fps:2.628e+04
+frame:7.28e+07         wall_t:2770            t:35547                epi:nan
+opt_step:142160        lr:0.0003              clip_eps:0.2           entropy:1.903
+2026-03-14 22:16:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.00     total_reward_ma:28.00  loss:-0.01715          fps:2.629e+04
+frame:7.29e+07         wall_t:2773            t:35596                epi:nan
+opt_step:142320        lr:0.0003              clip_eps:0.2           entropy:1.846
+2026-03-14 22:16:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.17     total_reward_ma:27.97  loss:-0.01813          fps:2.629e+04
+frame:7.30e+07         wall_t:2777            t:35645                epi:nan
+opt_step:142560        lr:0.0003              clip_eps:0.2           entropy:1.944
+2026-03-14 22:16:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.68     total_reward_ma:27.94  loss:-0.01751          fps:2.629e+04
+frame:7.31e+07         wall_t:2781            t:35694                epi:nan
+opt_step:142720        lr:0.0003              clip_eps:0.2           entropy:1.648
+2026-03-14 22:17:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.32e+07         wall_t:2785            t:35743                epi:nan
+opt_step:142960        lr:0.0003              clip_eps:0.2           entropy:1.934
+2026-03-14 22:17:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.33e+07         wall_t:2788            t:35792                epi:nan
+opt_step:143120        lr:0.0003              clip_eps:0.2           entropy:1.717
+2026-03-14 22:17:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:17:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.35e+07         wall_t:2795            t:35889                epi:nan
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+2026-03-14 22:17:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.36e+07         wall_t:2798            t:35938                epi:nan
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+2026-03-14 22:17:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.37e+07         wall_t:2802            t:35987                epi:nan
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+2026-03-14 22:17:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:17:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:17:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.40e+07         wall_t:2812            t:36133                epi:nan
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+2026-03-14 22:17:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.41e+07         wall_t:2816            t:36182                epi:nan
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+2026-03-14 22:17:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.42e+07         wall_t:2819            t:36231                epi:nan
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+2026-03-14 22:17:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.43e+07         wall_t:2823            t:36280                epi:nan
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+2026-03-14 22:17:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.44e+07         wall_t:2827            t:36329                epi:nan
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+2026-03-14 22:17:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.45e+07         wall_t:2830            t:36377                epi:nan
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+2026-03-14 22:17:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.46e+07         wall_t:2834            t:36426                epi:nan
+opt_step:145680        lr:0.0003              clip_eps:0.2           entropy:1.674
+2026-03-14 22:17:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.47e+07         wall_t:2838            t:36475                epi:nan
+opt_step:145840        lr:0.0003              clip_eps:0.2           entropy:1.725
+2026-03-14 22:17:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.81     total_reward_ma:27.95  loss:-0.01827          fps:2.632e+04
+frame:7.48e+07         wall_t:2842            t:36524                epi:nan
+opt_step:146080        lr:0.0003              clip_eps:0.2           entropy:1.599
+2026-03-14 22:18:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.07     total_reward_ma:27.95  loss:-0.01694          fps:2.633e+04
+frame:7.49e+07         wall_t:2845            t:36573                epi:nan
+opt_step:146240        lr:0.0003              clip_eps:0.2           entropy:1.834
+2026-03-14 22:18:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.65     total_reward_ma:27.91  loss:-0.01641          fps:2.633e+04
+frame:7.50e+07         wall_t:2849            t:36622                epi:nan
+opt_step:146480        lr:0.0003              clip_eps:0.2           entropy:1.636
+2026-03-14 22:18:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.19     total_reward_ma:27.92  loss:-0.01833          fps:2.633e+04
+frame:7.51e+07         wall_t:2852            t:36670                epi:nan
+opt_step:146640        lr:0.0003              clip_eps:0.2           entropy:1.776
+2026-03-14 22:18:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.01     total_reward_ma:27.91  loss:-0.01662          fps:2.634e+04
+frame:7.52e+07         wall_t:2855            t:36719                epi:nan
+opt_step:146800        lr:0.0003              clip_eps:0.2           entropy:1.898
+2026-03-14 22:18:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.99     total_reward_ma:27.93  loss:-0.01709          fps:2.634e+04
+frame:7.53e+07         wall_t:2859            t:36768                epi:nan
+opt_step:147040        lr:0.0003              clip_eps:0.2           entropy:1.864
+2026-03-14 22:18:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.04     total_reward_ma:27.92  loss:-0.01794          fps:2.634e+04
+frame:7.54e+07         wall_t:2863            t:36817                epi:nan
+opt_step:147200        lr:0.0003              clip_eps:0.2           entropy:1.962
+2026-03-14 22:18:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.80     total_reward_ma:27.96  loss:-0.0165           fps:2.634e+04
+frame:7.55e+07         wall_t:2866            t:36866                epi:nan
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+2026-03-14 22:18:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.68     total_reward_ma:27.98  loss:-0.01785          fps:2.634e+04
+frame:7.56e+07         wall_t:2870            t:36915                epi:nan
+opt_step:147600        lr:0.0003              clip_eps:0.2           entropy:1.662
+2026-03-14 22:18:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.84     total_reward_ma:28.01  loss:-0.01637          fps:2.635e+04
+frame:7.57e+07         wall_t:2873            t:36963                epi:nan
+opt_step:147840        lr:0.0003              clip_eps:0.2           entropy:1.554
+2026-03-14 22:18:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.64     total_reward_ma:27.99  loss:-0.01534          fps:2.635e+04
+frame:7.58e+07         wall_t:2877            t:37012                epi:nan
+opt_step:148000        lr:0.0003              clip_eps:0.2           entropy:1.794
+2026-03-14 22:18:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.45     total_reward_ma:28.04  loss:-0.01667          fps:2.635e+04
+frame:7.59e+07         wall_t:2881            t:37061                epi:nan
+opt_step:148240        lr:0.0003              clip_eps:0.2           entropy:1.78
+2026-03-14 22:18:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.48     total_reward_ma:28.04  loss:-0.01599          fps:2.635e+04
+frame:7.60e+07         wall_t:2884            t:37110                epi:nan
+opt_step:148400        lr:0.0003              clip_eps:0.2           entropy:1.574
+2026-03-14 22:18:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.10     total_reward_ma:28.05  loss:-0.01467          fps:2.636e+04
+frame:7.61e+07         wall_t:2887            t:37159                epi:nan
+opt_step:148560        lr:0.0003              clip_eps:0.2           entropy:1.544
+2026-03-14 22:18:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.66     total_reward_ma:28.06  loss:-0.01623          fps:2.636e+04
+frame:7.62e+07         wall_t:2891            t:37208                epi:nan
+opt_step:148800        lr:0.0003              clip_eps:0.2           entropy:1.522
+2026-03-14 22:18:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.39     total_reward_ma:28.09  loss:-0.01541          fps:2.636e+04
+frame:7.63e+07         wall_t:2894            t:37256                epi:nan
+opt_step:148960        lr:0.0003              clip_eps:0.2           entropy:1.479
+2026-03-14 22:18:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.11     total_reward_ma:28.09  loss:-0.01458          fps:2.636e+04
+frame:7.64e+07         wall_t:2898            t:37305                epi:nan
+opt_step:149200        lr:0.0003              clip_eps:0.2           entropy:1.504
+2026-03-14 22:18:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.45     total_reward_ma:28.08  loss:-0.01652          fps:2.636e+04
+frame:7.65e+07         wall_t:2902            t:37354                epi:nan
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+2026-03-14 22:19:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.55     total_reward_ma:28.07  loss:-0.01855          fps:2.637e+04
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+2026-03-14 22:19:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.80     total_reward_ma:28.07  loss:-0.01678          fps:2.637e+04
+frame:7.67e+07         wall_t:2909            t:37452                epi:nan
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+2026-03-14 22:19:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.05     total_reward_ma:28.05  loss:-0.0166           fps:2.636e+04
+frame:7.68e+07         wall_t:2913            t:37500                epi:nan
+opt_step:150000        lr:0.0003              clip_eps:0.2           entropy:1.582
+2026-03-14 22:19:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.93     total_reward_ma:28.03  loss:-0.01636          fps:2.637e+04
+frame:7.69e+07         wall_t:2916            t:37549                epi:nan
+opt_step:150160        lr:0.0003              clip_eps:0.2           entropy:1.693
+2026-03-14 22:19:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.82     total_reward_ma:28.01  loss:-0.01494          fps:2.637e+04
+frame:7.70e+07         wall_t:2920            t:37598                epi:nan
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+2026-03-14 22:19:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.52     total_reward_ma:27.99  loss:-0.01677          fps:2.637e+04
+frame:7.71e+07         wall_t:2924            t:37647                epi:nan
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+2026-03-14 22:19:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:25.57     total_reward_ma:27.97  loss:-0.0164           fps:2.638e+04
+frame:7.72e+07         wall_t:2927            t:37696                epi:nan
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+2026-03-14 22:19:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.97     total_reward_ma:27.95  loss:-0.01631          fps:2.637e+04
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+2026-03-14 22:19:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.62     total_reward_ma:27.94  loss:-0.01676          fps:2.638e+04
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+2026-03-14 22:19:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.74     total_reward_ma:27.95  loss:-0.01503          fps:2.638e+04
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+2026-03-14 22:19:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.11     total_reward_ma:27.93  loss:-0.01895          fps:2.638e+04
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+2026-03-14 22:19:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.83     total_reward_ma:27.93  loss:-0.01619          fps:2.638e+04
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+2026-03-14 22:19:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.13     total_reward_ma:27.94  loss:-0.01831          fps:2.638e+04
+frame:7.78e+07         wall_t:2949            t:37989                epi:nan
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+2026-03-14 22:19:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:26.61     total_reward_ma:27.93  loss:-0.01772          fps:2.638e+04
+frame:7.79e+07         wall_t:2953            t:38038                epi:nan
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+2026-03-14 22:19:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.97     total_reward_ma:27.94  loss:-0.0168           fps:2.638e+04
+frame:7.80e+07         wall_t:2957            t:38086                epi:nan
+opt_step:152320        lr:0.0003              clip_eps:0.2           entropy:1.548
+2026-03-14 22:19:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.57     total_reward_ma:27.94  loss:-0.01499          fps:2.639e+04
+frame:7.81e+07         wall_t:2960            t:38135                epi:nan
+opt_step:152480        lr:0.0003              clip_eps:0.2           entropy:1.6
+2026-03-14 22:20:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.62     total_reward_ma:27.97  loss:-0.01614          fps:2.638e+04
+frame:7.82e+07         wall_t:2964            t:38184                epi:nan
+opt_step:152720        lr:0.0003              clip_eps:0.2           entropy:1.659
+2026-03-14 22:20:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.83e+07         wall_t:2967            t:38233                epi:nan
+opt_step:152880        lr:0.0003              clip_eps:0.2           entropy:1.668
+2026-03-14 22:20:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.84e+07         wall_t:2971            t:38282                epi:nan
+opt_step:153120        lr:0.0003              clip_eps:0.2           entropy:1.686
+2026-03-14 22:20:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.39     total_reward_ma:28.07  loss:-0.01644          fps:2.639e+04
+frame:7.85e+07         wall_t:2975            t:38331                epi:nan
+opt_step:153280        lr:0.0003              clip_eps:0.2           entropy:1.633
+2026-03-14 22:20:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.58     total_reward_ma:28.09  loss:-0.01695          fps:2.639e+04
+frame:7.86e+07         wall_t:2978            t:38379                epi:nan
+opt_step:153440        lr:0.0003              clip_eps:0.2           entropy:1.561
+2026-03-14 22:20:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.87e+07         wall_t:2982            t:38428                epi:nan
+opt_step:153680        lr:0.0003              clip_eps:0.2           entropy:1.92
+2026-03-14 22:20:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.88e+07         wall_t:2985            t:38477                epi:nan
+opt_step:153840        lr:0.0003              clip_eps:0.2           entropy:1.589
+2026-03-14 22:20:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.89e+07         wall_t:2990            t:38526                epi:nan
+opt_step:154080        lr:0.0003              clip_eps:0.2           entropy:1.851
+2026-03-14 22:20:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.89     total_reward_ma:28.17  loss:-0.01847          fps:2.64e+04
+frame:7.90e+07         wall_t:2993            t:38575                epi:nan
+opt_step:154240        lr:0.0003              clip_eps:0.2           entropy:1.652
+2026-03-14 22:20:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.91e+07         wall_t:2997            t:38624                epi:nan
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+2026-03-14 22:20:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:7.92e+07         wall_t:3000            t:38672                epi:nan
+opt_step:154640        lr:0.0003              clip_eps:0.2           entropy:1.78
+2026-03-14 22:20:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.36     total_reward_ma:28.23  loss:-0.01542          fps:2.64e+04
+frame:7.93e+07         wall_t:3004            t:38721                epi:nan
+opt_step:154880        lr:0.0003              clip_eps:0.2           entropy:1.483
+2026-03-14 22:20:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.64     total_reward_ma:28.24  loss:-0.01791          fps:2.641e+04
+frame:7.94e+07         wall_t:3007            t:38770                epi:nan
+opt_step:155040        lr:0.0003              clip_eps:0.2           entropy:1.599
+2026-03-14 22:20:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.57     total_reward_ma:28.25  loss:-0.01746          fps:2.64e+04
+frame:7.95e+07         wall_t:3011            t:38819                epi:nan
+opt_step:155200        lr:0.0003              clip_eps:0.2           entropy:1.502
+2026-03-14 22:20:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.46     total_reward_ma:28.28  loss:-0.01294          fps:2.641e+04
+frame:7.96e+07         wall_t:3014            t:38868                epi:nan
+opt_step:155440        lr:0.0003              clip_eps:0.2           entropy:1.347
+2026-03-14 22:20:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.14     total_reward_ma:28.31  loss:-0.01625          fps:2.642e+04
+frame:7.97e+07         wall_t:3017            t:38917                epi:nan
+opt_step:155600        lr:0.0003              clip_eps:0.2           entropy:1.46
+2026-03-14 22:20:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.43     total_reward_ma:28.33  loss:-0.01683          fps:2.642e+04
+frame:7.98e+07         wall_t:3021            t:38965                epi:nan
+opt_step:155840        lr:0.0003              clip_eps:0.2           entropy:1.416
+2026-03-14 22:21:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.17     total_reward_ma:28.34  loss:-0.01669          fps:2.641e+04
+frame:7.99e+07         wall_t:3025            t:39014                epi:nan
+opt_step:156000        lr:0.0003              clip_eps:0.2           entropy:1.569
+2026-03-14 22:21:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.59     total_reward_ma:28.36  loss:-0.01577          fps:2.641e+04
+frame:8.00e+07         wall_t:3029            t:39063                epi:nan
+opt_step:156240        lr:0.0003              clip_eps:0.2           entropy:1.643
+2026-03-14 22:21:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.67     total_reward_ma:28.35  loss:-0.01652          fps:2.642e+04
+frame:8.01e+07         wall_t:3032            t:39112                epi:nan
+opt_step:156400        lr:0.0003              clip_eps:0.2           entropy:1.582
+2026-03-14 22:21:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.03     total_reward_ma:28.33  loss:-0.01749          fps:2.642e+04
+frame:8.02e+07         wall_t:3036            t:39161                epi:nan
+opt_step:156640        lr:0.0003              clip_eps:0.2           entropy:1.28
+2026-03-14 22:21:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.32     total_reward_ma:28.37  loss:-0.01643          fps:2.642e+04
+frame:8.03e+07         wall_t:3039            t:39209                epi:nan
+opt_step:156800        lr:0.0003              clip_eps:0.2           entropy:1.41
+2026-03-14 22:21:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.81     total_reward_ma:28.40  loss:-0.01744          fps:2.642e+04
+frame:8.04e+07         wall_t:3043            t:39258                epi:nan
+opt_step:156960        lr:0.0003              clip_eps:0.2           entropy:1.394
+2026-03-14 22:21:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.99     total_reward_ma:28.39  loss:-0.01499          fps:2.642e+04
+frame:8.05e+07         wall_t:3047            t:39307                epi:nan
+opt_step:157200        lr:0.0003              clip_eps:0.2           entropy:1.434
+2026-03-14 22:21:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.33     total_reward_ma:28.38  loss:-0.01576          fps:2.643e+04
+frame:8.06e+07         wall_t:3050            t:39356                epi:nan
+opt_step:157360        lr:0.0003              clip_eps:0.2           entropy:1.585
+2026-03-14 22:21:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.50     total_reward_ma:28.40  loss:-0.01455          fps:2.642e+04
+frame:8.07e+07         wall_t:3054            t:39405                epi:nan
+opt_step:157600        lr:0.0003              clip_eps:0.2           entropy:1.311
+2026-03-14 22:21:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.88     total_reward_ma:28.41  loss:-0.0162           fps:2.643e+04
+frame:8.08e+07         wall_t:3057            t:39454                epi:nan
+opt_step:157760        lr:0.0003              clip_eps:0.2           entropy:1.305
+2026-03-14 22:21:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.74     total_reward_ma:28.45  loss:-0.01229          fps:2.643e+04
+frame:8.09e+07         wall_t:3061            t:39502                epi:nan
+opt_step:158000        lr:0.0003              clip_eps:0.2           entropy:1.346
+2026-03-14 22:21:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.56     total_reward_ma:28.49  loss:-0.01595          fps:2.643e+04
+frame:8.10e+07         wall_t:3065            t:39551                epi:nan
+opt_step:158160        lr:0.0003              clip_eps:0.2           entropy:1.407
+2026-03-14 22:21:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.14     total_reward_ma:28.49  loss:-0.01641          fps:2.643e+04
+frame:8.11e+07         wall_t:3069            t:39600                epi:nan
+opt_step:158400        lr:0.0003              clip_eps:0.2           entropy:1.474
+2026-03-14 22:21:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.08     total_reward_ma:28.51  loss:-0.01605          fps:2.643e+04
+frame:8.12e+07         wall_t:3072            t:39649                epi:nan
+opt_step:158560        lr:0.0003              clip_eps:0.2           entropy:1.463
+2026-03-14 22:21:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.84     total_reward_ma:28.54  loss:-0.01573          fps:2.643e+04
+frame:8.13e+07         wall_t:3076            t:39698                epi:nan
+opt_step:158720        lr:0.0003              clip_eps:0.2           entropy:1.454
+2026-03-14 22:21:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.60     total_reward_ma:28.54  loss:-0.01628          fps:2.643e+04
+frame:8.14e+07         wall_t:3080            t:39747                epi:nan
+opt_step:158960        lr:0.0003              clip_eps:0.2           entropy:1.246
+2026-03-14 22:21:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.81     total_reward_ma:28.55  loss:-0.01505          fps:2.644e+04
+frame:8.15e+07         wall_t:3083            t:39795                epi:nan
+opt_step:159120        lr:0.0003              clip_eps:0.2           entropy:1.536
+2026-03-14 22:22:03 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.43     total_reward_ma:28.56  loss:-0.01589          fps:2.643e+04
+frame:8.16e+07         wall_t:3087            t:39844                epi:nan
+opt_step:159360        lr:0.0003              clip_eps:0.2           entropy:1.303
+2026-03-14 22:22:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.32     total_reward_ma:28.56  loss:-0.01474          fps:2.644e+04
+frame:8.17e+07         wall_t:3090            t:39893                epi:nan
+opt_step:159520        lr:0.0003              clip_eps:0.2           entropy:1.391
+2026-03-14 22:22:10 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.86     total_reward_ma:28.57  loss:-0.01589          fps:2.644e+04
+frame:8.18e+07         wall_t:3094            t:39942                epi:nan
+opt_step:159760        lr:0.0003              clip_eps:0.2           entropy:1.416
+2026-03-14 22:22:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.77     total_reward_ma:28.58  loss:-0.01637          fps:2.645e+04
+frame:8.19e+07         wall_t:3097            t:39991                epi:nan
+opt_step:159920        lr:0.0003              clip_eps:0.2           entropy:1.319
+2026-03-14 22:22:17 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.06     total_reward_ma:28.60  loss:-0.01517          fps:2.644e+04
+frame:8.20e+07         wall_t:3101            t:40040                epi:nan
+opt_step:160160        lr:0.0003              clip_eps:0.2           entropy:1.26
+2026-03-14 22:22:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.61     total_reward_ma:28.64  loss:-0.01521          fps:2.644e+04
+frame:8.21e+07         wall_t:3105            t:40088                epi:nan
+opt_step:160320        lr:0.0003              clip_eps:0.2           entropy:1.307
+2026-03-14 22:22:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.46     total_reward_ma:28.67  loss:-0.01364          fps:2.645e+04
+frame:8.22e+07         wall_t:3108            t:40137                epi:nan
+opt_step:160480        lr:0.0003              clip_eps:0.2           entropy:1.399
+2026-03-14 22:22:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.71     total_reward_ma:28.70  loss:-0.0138           fps:2.645e+04
+frame:8.23e+07         wall_t:3112            t:40186                epi:nan
+opt_step:160720        lr:0.0003              clip_eps:0.2           entropy:1.316
+2026-03-14 22:22:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.31     total_reward_ma:28.71  loss:-0.01378          fps:2.645e+04
+frame:8.24e+07         wall_t:3115            t:40235                epi:nan
+opt_step:160880        lr:0.0003              clip_eps:0.2           entropy:1.377
+2026-03-14 22:22:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.72     total_reward_ma:28.73  loss:-0.01395          fps:2.645e+04
+frame:8.25e+07         wall_t:3119            t:40284                epi:nan
+opt_step:161120        lr:0.0003              clip_eps:0.2           entropy:1.42
+2026-03-14 22:22:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.10     total_reward_ma:28.76  loss:-0.01582          fps:2.646e+04
+frame:8.26e+07         wall_t:3122            t:40333                epi:nan
+opt_step:161280        lr:0.0003              clip_eps:0.2           entropy:1.272
+2026-03-14 22:22:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.06     total_reward_ma:28.78  loss:-0.01457          fps:2.646e+04
+frame:8.27e+07         wall_t:3126            t:40381                epi:nan
+opt_step:161520        lr:0.0003              clip_eps:0.2           entropy:1.417
+2026-03-14 22:22:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.45     total_reward_ma:28.81  loss:-0.01573          fps:2.645e+04
+frame:8.28e+07         wall_t:3130            t:40430                epi:nan
+opt_step:161680        lr:0.0003              clip_eps:0.2           entropy:1.341
+2026-03-14 22:22:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.83     total_reward_ma:28.83  loss:-0.01354          fps:2.646e+04
+frame:8.29e+07         wall_t:3133            t:40479                epi:nan
+opt_step:161840        lr:0.0003              clip_eps:0.2           entropy:1.199
+2026-03-14 22:22:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.97     total_reward_ma:28.85  loss:-0.01529          fps:2.646e+04
+frame:8.30e+07         wall_t:3137            t:40528                epi:nan
+opt_step:162080        lr:0.0003              clip_eps:0.2           entropy:1.422
+2026-03-14 22:22:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.12     total_reward_ma:28.88  loss:-0.01382          fps:2.647e+04
+frame:8.31e+07         wall_t:3140            t:40577                epi:nan
+opt_step:162240        lr:0.0003              clip_eps:0.2           entropy:1.186
+2026-03-14 22:23:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.32e+07         wall_t:3144            t:40625                epi:nan
+opt_step:162480        lr:0.0003              clip_eps:0.2           entropy:1.403
+2026-03-14 22:23:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.33e+07         wall_t:3148            t:40674                epi:nan
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+2026-03-14 22:23:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.34e+07         wall_t:3152            t:40723                epi:nan
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+2026-03-14 22:23:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.35e+07         wall_t:3155            t:40772                epi:nan
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+2026-03-14 22:23:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.36e+07         wall_t:3159            t:40821                epi:nan
+opt_step:163280        lr:0.0003              clip_eps:0.2           entropy:1.15
+2026-03-14 22:23:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.37e+07         wall_t:3162            t:40870                epi:nan
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+2026-03-14 22:23:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.38e+07         wall_t:3166            t:40918                epi:nan
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+2026-03-14 22:23:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.39e+07         wall_t:3170            t:40967                epi:nan
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+2026-03-14 22:23:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.40e+07         wall_t:3173            t:41016                epi:nan
+opt_step:164000        lr:0.0003              clip_eps:0.2           entropy:1.237
+2026-03-14 22:23:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:23:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.42e+07         wall_t:3181            t:41114                epi:nan
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+2026-03-14 22:23:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.43e+07         wall_t:3185            t:41163                epi:nan
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+2026-03-14 22:23:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.44e+07         wall_t:3188            t:41211                epi:nan
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+2026-03-14 22:23:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.68     total_reward_ma:29.20  loss:-0.01201          fps:2.647e+04
+frame:8.45e+07         wall_t:3192            t:41260                epi:nan
+opt_step:165040        lr:0.0003              clip_eps:0.2           entropy:0.796
+2026-03-14 22:23:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.12     total_reward_ma:29.24  loss:-0.01365          fps:2.648e+04
+frame:8.46e+07         wall_t:3195            t:41309                epi:nan
+opt_step:165200        lr:0.0003              clip_eps:0.2           entropy:0.9844
+2026-03-14 22:23:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.59     total_reward_ma:29.24  loss:-0.01504          fps:2.648e+04
+frame:8.47e+07         wall_t:3199            t:41358                epi:nan
+opt_step:165360        lr:0.0003              clip_eps:0.2           entropy:1.485
+2026-03-14 22:23:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.16     total_reward_ma:29.26  loss:-0.01236          fps:2.648e+04
+frame:8.48e+07         wall_t:3203            t:41407                epi:nan
+opt_step:165600        lr:0.0003              clip_eps:0.2           entropy:0.942
+2026-03-14 22:24:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.43     total_reward_ma:29.25  loss:-0.01504          fps:2.648e+04
+frame:8.49e+07         wall_t:3206            t:41456                epi:nan
+opt_step:165760        lr:0.0003              clip_eps:0.2           entropy:0.9487
+2026-03-14 22:24:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.01     total_reward_ma:29.30  loss:-0.01395          fps:2.648e+04
+frame:8.50e+07         wall_t:3210            t:41504                epi:nan
+opt_step:166000        lr:0.0003              clip_eps:0.2           entropy:1.184
+2026-03-14 22:24:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.65     total_reward_ma:29.32  loss:-0.01353          fps:2.649e+04
+frame:8.51e+07         wall_t:3213            t:41553                epi:nan
+opt_step:166160        lr:0.0003              clip_eps:0.2           entropy:1.088
+2026-03-14 22:24:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.24     total_reward_ma:29.36  loss:-0.01496          fps:2.648e+04
+frame:8.52e+07         wall_t:3217            t:41602                epi:nan
+opt_step:166400        lr:0.0003              clip_eps:0.2           entropy:1.174
+2026-03-14 22:24:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.89     total_reward_ma:29.37  loss:-0.01383          fps:2.649e+04
+frame:8.53e+07         wall_t:3220            t:41651                epi:nan
+opt_step:166560        lr:0.0003              clip_eps:0.2           entropy:1.099
+2026-03-14 22:24:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.43     total_reward_ma:29.41  loss:-0.01487          fps:2.648e+04
+frame:8.54e+07         wall_t:3225            t:41700                epi:nan
+opt_step:166800        lr:0.0003              clip_eps:0.2           entropy:1.255
+2026-03-14 22:24:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.20     total_reward_ma:29.39  loss:-0.0163           fps:2.649e+04
+frame:8.55e+07         wall_t:3228            t:41749                epi:nan
+opt_step:166960        lr:0.0003              clip_eps:0.2           entropy:1.113
+2026-03-14 22:24:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.23     total_reward_ma:29.38  loss:-0.01501          fps:2.649e+04
+frame:8.56e+07         wall_t:3231            t:41797                epi:nan
+opt_step:167120        lr:0.0003              clip_eps:0.2           entropy:1.152
+2026-03-14 22:24:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.72     total_reward_ma:29.36  loss:-0.01539          fps:2.649e+04
+frame:8.57e+07         wall_t:3235            t:41846                epi:nan
+opt_step:167360        lr:0.0003              clip_eps:0.2           entropy:1.241
+2026-03-14 22:24:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.39     total_reward_ma:29.36  loss:-0.01422          fps:2.649e+04
+frame:8.58e+07         wall_t:3239            t:41895                epi:nan
+opt_step:167520        lr:0.0003              clip_eps:0.2           entropy:1.189
+2026-03-14 22:24:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.48     total_reward_ma:29.37  loss:-0.01497          fps:2.649e+04
+frame:8.59e+07         wall_t:3243            t:41944                epi:nan
+opt_step:167760        lr:0.0003              clip_eps:0.2           entropy:1.26
+2026-03-14 22:24:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.25     total_reward_ma:29.37  loss:-0.01243          fps:2.649e+04
+frame:8.60e+07         wall_t:3246            t:41993                epi:nan
+opt_step:167920        lr:0.0003              clip_eps:0.2           entropy:0.8991
+2026-03-14 22:24:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.59     total_reward_ma:29.39  loss:-0.0153           fps:2.649e+04
+frame:8.61e+07         wall_t:3250            t:42042                epi:nan
+opt_step:168160        lr:0.0003              clip_eps:0.2           entropy:1.202
+2026-03-14 22:24:50 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.81     total_reward_ma:29.40  loss:-0.01353          fps:2.65e+04
+frame:8.62e+07         wall_t:3253            t:42090                epi:nan
+opt_step:168320        lr:0.0003              clip_eps:0.2           entropy:1.006
+2026-03-14 22:24:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.11     total_reward_ma:29.41  loss:-0.01238          fps:2.65e+04
+frame:8.63e+07         wall_t:3257            t:42139                epi:nan
+opt_step:168480        lr:0.0003              clip_eps:0.2           entropy:0.9355
+2026-03-14 22:24:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.31     total_reward_ma:29.42  loss:-0.01428          fps:2.65e+04
+frame:8.64e+07         wall_t:3261            t:42188                epi:nan
+opt_step:168720        lr:0.0003              clip_eps:0.2           entropy:1.054
+2026-03-14 22:25:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.01     total_reward_ma:29.40  loss:-0.01415          fps:2.65e+04
+frame:8.65e+07         wall_t:3264            t:42237                epi:nan
+opt_step:168880        lr:0.0003              clip_eps:0.2           entropy:1.133
+2026-03-14 22:25:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.98     total_reward_ma:29.41  loss:-0.01378          fps:2.65e+04
+frame:8.66e+07         wall_t:3268            t:42286                epi:nan
+opt_step:169120        lr:0.0003              clip_eps:0.2           entropy:1.125
+2026-03-14 22:25:08 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.74     total_reward_ma:29.44  loss:-0.01509          fps:2.65e+04
+frame:8.67e+07         wall_t:3272            t:42334                epi:nan
+opt_step:169280        lr:0.0003              clip_eps:0.2           entropy:1.012
+2026-03-14 22:25:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.18     total_reward_ma:29.46  loss:-0.01508          fps:2.65e+04
+frame:8.68e+07         wall_t:3276            t:42383                epi:nan
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+2026-03-14 22:25:15 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.16     total_reward_ma:29.49  loss:-0.01518          fps:2.65e+04
+frame:8.69e+07         wall_t:3279            t:42432                epi:nan
+opt_step:169680        lr:0.0003              clip_eps:0.2           entropy:1.17
+2026-03-14 22:25:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.49     total_reward_ma:29.51  loss:-0.01445          fps:2.65e+04
+frame:8.70e+07         wall_t:3283            t:42481                epi:nan
+opt_step:169920        lr:0.0003              clip_eps:0.2           entropy:1.218
+2026-03-14 22:25:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.52     total_reward_ma:29.51  loss:-0.01652          fps:2.651e+04
+frame:8.71e+07         wall_t:3286            t:42530                epi:nan
+opt_step:170080        lr:0.0003              clip_eps:0.2           entropy:1.231
+2026-03-14 22:25:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.47     total_reward_ma:29.56  loss:-0.01391          fps:2.651e+04
+frame:8.72e+07         wall_t:3290            t:42579                epi:nan
+opt_step:170240        lr:0.0003              clip_eps:0.2           entropy:1.163
+2026-03-14 22:25:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.50     total_reward_ma:29.58  loss:-0.01535          fps:2.65e+04
+frame:8.73e+07         wall_t:3294            t:42627                epi:nan
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+2026-03-14 22:25:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.10     total_reward_ma:29.61  loss:-0.01566          fps:2.651e+04
+frame:8.74e+07         wall_t:3297            t:42676                epi:nan
+opt_step:170640        lr:0.0003              clip_eps:0.2           entropy:1.048
+2026-03-14 22:25:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.77     total_reward_ma:29.60  loss:-0.01546          fps:2.651e+04
+frame:8.75e+07         wall_t:3301            t:42725                epi:nan
+opt_step:170880        lr:0.0003              clip_eps:0.2           entropy:1.217
+2026-03-14 22:25:40 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:27.26     total_reward_ma:29.58  loss:-0.01497          fps:2.651e+04
+frame:8.76e+07         wall_t:3304            t:42774                epi:nan
+opt_step:171040        lr:0.0003              clip_eps:0.2           entropy:1.267
+2026-03-14 22:25:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.47     total_reward_ma:29.58  loss:-0.01652          fps:2.651e+04
+frame:8.77e+07         wall_t:3308            t:42823                epi:nan
+opt_step:171280        lr:0.0003              clip_eps:0.2           entropy:1.141
+2026-03-14 22:25:47 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.59     total_reward_ma:29.61  loss:-0.01674          fps:2.652e+04
+frame:8.78e+07         wall_t:3311            t:42872                epi:nan
+opt_step:171440        lr:0.0003              clip_eps:0.2           entropy:1.14
+2026-03-14 22:25:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.21     total_reward_ma:29.64  loss:-0.0133           fps:2.652e+04
+frame:8.79e+07         wall_t:3315            t:42920                epi:nan
+opt_step:171680        lr:0.0003              clip_eps:0.2           entropy:1.225
+2026-03-14 22:25:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.80e+07         wall_t:3318            t:42969                epi:nan
+opt_step:171840        lr:0.0003              clip_eps:0.2           entropy:1.396
+2026-03-14 22:25:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.81e+07         wall_t:3322            t:43018                epi:nan
+opt_step:172000        lr:0.0003              clip_eps:0.2           entropy:1.25
+2026-03-14 22:26:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.82e+07         wall_t:3326            t:43067                epi:nan
+opt_step:172240        lr:0.0003              clip_eps:0.2           entropy:1.318
+2026-03-14 22:26:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.83e+07         wall_t:3329            t:43116                epi:nan
+opt_step:172400        lr:0.0003              clip_eps:0.2           entropy:1.502
+2026-03-14 22:26:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.84e+07         wall_t:3333            t:43165                epi:nan
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+2026-03-14 22:26:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.85e+07         wall_t:3336            t:43213                epi:nan
+opt_step:172800        lr:0.0003              clip_eps:0.2           entropy:1.541
+2026-03-14 22:26:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.86e+07         wall_t:3340            t:43262                epi:nan
+opt_step:173040        lr:0.0003              clip_eps:0.2           entropy:1.243
+2026-03-14 22:26:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.87e+07         wall_t:3343            t:43311                epi:nan
+opt_step:173200        lr:0.0003              clip_eps:0.2           entropy:1.118
+2026-03-14 22:26:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.88e+07         wall_t:3347            t:43360                epi:nan
+opt_step:173440        lr:0.0003              clip_eps:0.2           entropy:1.206
+2026-03-14 22:26:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.89e+07         wall_t:3350            t:43409                epi:nan
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+2026-03-14 22:26:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.90e+07         wall_t:3354            t:43458                epi:nan
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+2026-03-14 22:26:33 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.91e+07         wall_t:3357            t:43506                epi:nan
+opt_step:174000        lr:0.0003              clip_eps:0.2           entropy:1.214
+2026-03-14 22:26:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.92e+07         wall_t:3361            t:43555                epi:nan
+opt_step:174160        lr:0.0003              clip_eps:0.2           entropy:1.251
+2026-03-14 22:26:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:8.93e+07         wall_t:3365            t:43604                epi:nan
+opt_step:174400        lr:0.0003              clip_eps:0.2           entropy:1.345
+2026-03-14 22:26:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.88     total_reward_ma:29.58  loss:-0.01368          fps:2.654e+04
+frame:8.94e+07         wall_t:3368            t:43653                epi:nan
+opt_step:174560        lr:0.0003              clip_eps:0.2           entropy:1.145
+2026-03-14 22:26:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.91     total_reward_ma:29.58  loss:-0.01687          fps:2.654e+04
+frame:8.95e+07         wall_t:3372            t:43702                epi:nan
+opt_step:174800        lr:0.0003              clip_eps:0.2           entropy:1.285
+2026-03-14 22:26:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.87     total_reward_ma:29.58  loss:-0.01311          fps:2.655e+04
+frame:8.96e+07         wall_t:3375            t:43750                epi:nan
+opt_step:174960        lr:0.0003              clip_eps:0.2           entropy:1.095
+2026-03-14 22:26:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.61     total_reward_ma:29.60  loss:-0.01476          fps:2.655e+04
+frame:8.97e+07         wall_t:3378            t:43799                epi:nan
+opt_step:175120        lr:0.0003              clip_eps:0.2           entropy:1.106
+2026-03-14 22:26:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.98     total_reward_ma:29.59  loss:-0.01314          fps:2.654e+04
+frame:8.98e+07         wall_t:3383            t:43848                epi:nan
+opt_step:175360        lr:0.0003              clip_eps:0.2           entropy:1.041
+2026-03-14 22:27:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.26     total_reward_ma:29.61  loss:-0.01347          fps:2.655e+04
+frame:8.99e+07         wall_t:3386            t:43897                epi:nan
+opt_step:175520        lr:0.0003              clip_eps:0.2           entropy:1.056
+2026-03-14 22:27:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.94     total_reward_ma:29.63  loss:-0.01315          fps:2.655e+04
+frame:9.00e+07         wall_t:3390            t:43946                epi:nan
+opt_step:175760        lr:0.0003              clip_eps:0.2           entropy:1.156
+2026-03-14 22:27:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:28.70     total_reward_ma:29.64  loss:-0.01279          fps:2.656e+04
+frame:9.01e+07         wall_t:3393            t:43995                epi:nan
+opt_step:175920        lr:0.0003              clip_eps:0.2           entropy:1.001
+2026-03-14 22:27:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.88     total_reward_ma:29.66  loss:-0.01321          fps:2.655e+04
+frame:9.02e+07         wall_t:3397            t:44043                epi:nan
+opt_step:176160        lr:0.0003              clip_eps:0.2           entropy:0.9336
+2026-03-14 22:27:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.38     total_reward_ma:29.68  loss:-0.01379          fps:2.656e+04
+frame:9.03e+07         wall_t:3400            t:44092                epi:nan
+opt_step:176320        lr:0.0003              clip_eps:0.2           entropy:0.8519
+2026-03-14 22:27:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.94     total_reward_ma:29.68  loss:-0.01385          fps:2.656e+04
+frame:9.04e+07         wall_t:3404            t:44141                epi:nan
+opt_step:176560        lr:0.0003              clip_eps:0.2           entropy:0.9448
+2026-03-14 22:27:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.18     total_reward_ma:29.70  loss:-0.01432          fps:2.656e+04
+frame:9.05e+07         wall_t:3408            t:44190                epi:nan
+opt_step:176720        lr:0.0003              clip_eps:0.2           entropy:0.991
+2026-03-14 22:27:27 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.93     total_reward_ma:29.73  loss:-0.01566          fps:2.656e+04
+frame:9.06e+07         wall_t:3411            t:44239                epi:nan
+opt_step:176880        lr:0.0003              clip_eps:0.2           entropy:0.9248
+2026-03-14 22:27:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.44     total_reward_ma:29.74  loss:-0.01365          fps:2.656e+04
+frame:9.07e+07         wall_t:3415            t:44288                epi:nan
+opt_step:177120        lr:0.0003              clip_eps:0.2           entropy:0.9443
+2026-03-14 22:27:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.43     total_reward_ma:29.73  loss:-0.01261          fps:2.657e+04
+frame:9.08e+07         wall_t:3418            t:44336                epi:nan
+opt_step:177280        lr:0.0003              clip_eps:0.2           entropy:0.827
+2026-03-14 22:27:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.41     total_reward_ma:29.74  loss:-0.01361          fps:2.656e+04
+frame:9.09e+07         wall_t:3422            t:44385                epi:nan
+opt_step:177520        lr:0.0003              clip_eps:0.2           entropy:0.8623
+2026-03-14 22:27:42 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.49     total_reward_ma:29.75  loss:-0.01424          fps:2.657e+04
+frame:9.10e+07         wall_t:3425            t:44434                epi:nan
+opt_step:177680        lr:0.0003              clip_eps:0.2           entropy:0.8187
+2026-03-14 22:27:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.22     total_reward_ma:29.77  loss:-0.01292          fps:2.656e+04
+frame:9.11e+07         wall_t:3430            t:44483                epi:nan
+opt_step:177920        lr:0.0003              clip_eps:0.2           entropy:0.7489
+2026-03-14 22:27:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.57     total_reward_ma:29.78  loss:-0.01445          fps:2.657e+04
+frame:9.12e+07         wall_t:3433            t:44532                epi:nan
+opt_step:178080        lr:0.0003              clip_eps:0.2           entropy:0.9016
+2026-03-14 22:27:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:29.38     total_reward_ma:29.78  loss:-0.01336          fps:2.656e+04
+frame:9.13e+07         wall_t:3437            t:44581                epi:nan
+opt_step:178320        lr:0.0003              clip_eps:0.2           entropy:0.8518
+2026-03-14 22:27:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.12     total_reward_ma:29.81  loss:-0.0127           fps:2.657e+04
+frame:9.14e+07         wall_t:3440            t:44629                epi:nan
+opt_step:178480        lr:0.0003              clip_eps:0.2           entropy:0.6014
+2026-03-14 22:28:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.33     total_reward_ma:29.83  loss:-0.01347          fps:2.657e+04
+frame:9.15e+07         wall_t:3444            t:44678                epi:nan
+opt_step:178640        lr:0.0003              clip_eps:0.2           entropy:0.9007
+2026-03-14 22:28:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.40     total_reward_ma:29.85  loss:-0.01306          fps:2.657e+04
+frame:9.16e+07         wall_t:3447            t:44727                epi:nan
+opt_step:178880        lr:0.0003              clip_eps:0.2           entropy:0.9414
+2026-03-14 22:28:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.88     total_reward_ma:29.86  loss:-0.01367          fps:2.657e+04
+frame:9.17e+07         wall_t:3451            t:44776                epi:nan
+opt_step:179040        lr:0.0003              clip_eps:0.2           entropy:0.8555
+2026-03-14 22:28:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.27     total_reward_ma:29.89  loss:-0.01249          fps:2.657e+04
+frame:9.18e+07         wall_t:3455            t:44825                epi:nan
+opt_step:179280        lr:0.0003              clip_eps:0.2           entropy:0.938
+2026-03-14 22:28:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.38     total_reward_ma:29.93  loss:-0.01394          fps:2.658e+04
+frame:9.19e+07         wall_t:3458            t:44874                epi:nan
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+2026-03-14 22:28:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.14     total_reward_ma:29.97  loss:-0.01362          fps:2.657e+04
+frame:9.20e+07         wall_t:3462            t:44922                epi:nan
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+2026-03-14 22:28:22 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.40     total_reward_ma:29.99  loss:-0.01463          fps:2.658e+04
+frame:9.21e+07         wall_t:3465            t:44971                epi:nan
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+2026-03-14 22:28:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.11     total_reward_ma:30.03  loss:-0.01377          fps:2.658e+04
+frame:9.22e+07         wall_t:3469            t:45020                epi:nan
+opt_step:180080        lr:0.0003              clip_eps:0.2           entropy:0.7186
+2026-03-14 22:28:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.87     total_reward_ma:30.04  loss:-0.01257          fps:2.658e+04
+frame:9.23e+07         wall_t:3473            t:45069                epi:nan
+opt_step:180240        lr:0.0003              clip_eps:0.2           entropy:0.8338
+2026-03-14 22:28:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.36     total_reward_ma:30.06  loss:-0.01413          fps:2.658e+04
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+2026-03-14 22:28:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.64     total_reward_ma:30.09  loss:-0.01121          fps:2.658e+04
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+2026-03-14 22:28:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.03     total_reward_ma:30.11  loss:-0.009916         fps:2.659e+04
+frame:9.26e+07         wall_t:3483            t:45215                epi:nan
+opt_step:180800        lr:0.0003              clip_eps:0.2           entropy:0.6607
+2026-03-14 22:28:43 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.82     total_reward_ma:30.14  loss:-0.01319          fps:2.658e+04
+frame:9.27e+07         wall_t:3487            t:45264                epi:nan
+opt_step:181040        lr:0.0003              clip_eps:0.2           entropy:0.6821
+2026-03-14 22:28:46 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.28e+07         wall_t:3490            t:45313                epi:nan
+opt_step:181200        lr:0.0003              clip_eps:0.2           entropy:0.864
+2026-03-14 22:28:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.63     total_reward_ma:30.17  loss:-0.01133          fps:2.659e+04
+frame:9.29e+07         wall_t:3494            t:45362                epi:nan
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+2026-03-14 22:28:54 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.30e+07         wall_t:3498            t:45411                epi:nan
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+2026-03-14 22:28:57 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.31e+07         wall_t:3501            t:45459                epi:nan
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+2026-03-14 22:29:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.32e+07         wall_t:3505            t:45508                epi:nan
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+2026-03-14 22:29:05 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:29:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:29:12 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.35e+07         wall_t:3516            t:45655                epi:nan
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+2026-03-14 22:29:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.36e+07         wall_t:3520            t:45704                epi:nan
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+2026-03-14 22:29:19 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.37e+07         wall_t:3523            t:45752                epi:nan
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+2026-03-14 22:29:23 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.38e+07         wall_t:3527            t:45801                epi:nan
+opt_step:183200        lr:0.0003              clip_eps:0.2           entropy:0.796
+2026-03-14 22:29:26 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.39e+07         wall_t:3530            t:45850                epi:nan
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+2026-03-14 22:29:30 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.40e+07         wall_t:3534            t:45899                epi:nan
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+2026-03-14 22:29:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+frame:9.41e+07         wall_t:3538            t:45948                epi:nan
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+2026-03-14 22:29:37 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.41     total_reward_ma:30.40  loss:-0.01204          fps:2.66e+04
+frame:9.42e+07         wall_t:3541            t:45997                epi:nan
+opt_step:183920        lr:0.0003              clip_eps:0.2           entropy:0.6666
+2026-03-14 22:29:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.25     total_reward_ma:30.41  loss:-0.01099          fps:2.66e+04
+frame:9.43e+07         wall_t:3545            t:46045                epi:nan
+opt_step:184160        lr:0.0003              clip_eps:0.2           entropy:0.5611
+2026-03-14 22:29:44 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.40     total_reward_ma:30.42  loss:-0.01234          fps:2.661e+04
+frame:9.44e+07         wall_t:3548            t:46094                epi:nan
+opt_step:184320        lr:0.0003              clip_eps:0.2           entropy:0.6264
+2026-03-14 22:29:48 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.93     total_reward_ma:30.45  loss:-0.01284          fps:2.66e+04
+frame:9.45e+07         wall_t:3552            t:46143                epi:nan
+opt_step:184560        lr:0.0003              clip_eps:0.2           entropy:0.378
+2026-03-14 22:29:51 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.33     total_reward_ma:30.46  loss:-0.0109           fps:2.661e+04
+frame:9.46e+07         wall_t:3555            t:46192                epi:nan
+opt_step:184720        lr:0.0003              clip_eps:0.2           entropy:0.3971
+2026-03-14 22:29:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.63     total_reward_ma:30.50  loss:-0.01132          fps:2.661e+04
+frame:9.47e+07         wall_t:3559            t:46241                epi:nan
+opt_step:184960        lr:0.0003              clip_eps:0.2           entropy:0.4877
+2026-03-14 22:29:59 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.46     total_reward_ma:30.53  loss:-0.01083          fps:2.661e+04
+frame:9.48e+07         wall_t:3563            t:46290                epi:nan
+opt_step:185120        lr:0.0003              clip_eps:0.2           entropy:0.5507
+2026-03-14 22:30:02 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.99     total_reward_ma:30.59  loss:-0.01066          fps:2.661e+04
+frame:9.49e+07         wall_t:3566            t:46338                epi:nan
+opt_step:185280        lr:0.0003              clip_eps:0.2           entropy:0.4816
+2026-03-14 22:30:06 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.70     total_reward_ma:30.61  loss:-0.01106          fps:2.661e+04
+frame:9.50e+07         wall_t:3570            t:46387                epi:nan
+opt_step:185520        lr:0.0003              clip_eps:0.2           entropy:0.5311
+2026-03-14 22:30:09 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.46     total_reward_ma:30.64  loss:-0.01269          fps:2.662e+04
+frame:9.51e+07         wall_t:3573            t:46436                epi:nan
+opt_step:185680        lr:0.0003              clip_eps:0.2           entropy:0.333
+2026-03-14 22:30:13 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.23     total_reward_ma:30.66  loss:-0.0121           fps:2.661e+04
+frame:9.52e+07         wall_t:3577            t:46485                epi:nan
+opt_step:185920        lr:0.0003              clip_eps:0.2           entropy:0.5354
+2026-03-14 22:30:16 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.41     total_reward_ma:30.68  loss:-0.01262          fps:2.662e+04
+frame:9.53e+07         wall_t:3580            t:46534                epi:nan
+opt_step:186080        lr:0.0003              clip_eps:0.2           entropy:0.4331
+2026-03-14 22:30:20 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.74     total_reward_ma:30.72  loss:-0.01335          fps:2.662e+04
+frame:9.54e+07         wall_t:3584            t:46583                epi:nan
+opt_step:186320        lr:0.0003              clip_eps:0.2           entropy:0.5326
+2026-03-14 22:30:24 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.80     total_reward_ma:30.77  loss:-0.01198          fps:2.662e+04
+frame:9.55e+07         wall_t:3588            t:46631                epi:nan
+opt_step:186480        lr:0.0003              clip_eps:0.2           entropy:0.3867
+2026-03-14 22:30:28 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.99     total_reward_ma:30.82  loss:-0.01014          fps:2.661e+04
+frame:9.56e+07         wall_t:3592            t:46680                epi:nan
+opt_step:186720        lr:0.0003              clip_eps:0.2           entropy:0.4333
+2026-03-14 22:30:31 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:34.51     total_reward_ma:30.89  loss:-0.012            fps:2.662e+04
+frame:9.57e+07         wall_t:3595            t:46729                epi:nan
+opt_step:186880        lr:0.0003              clip_eps:0.2           entropy:0.3033
+2026-03-14 22:30:35 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.48     total_reward_ma:30.93  loss:-0.01243          fps:2.663e+04
+frame:9.58e+07         wall_t:3598            t:46778                epi:nan
+opt_step:187040        lr:0.0003              clip_eps:0.2           entropy:0.3666
+2026-03-14 22:30:38 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.30     total_reward_ma:30.96  loss:-0.01147          fps:2.662e+04
+frame:9.59e+07         wall_t:3602            t:46827                epi:nan
+opt_step:187280        lr:0.0003              clip_eps:0.2           entropy:0.3713
+2026-03-14 22:30:41 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:32.59     total_reward_ma:30.99  loss:-0.01087          fps:2.663e+04
+frame:9.60e+07         wall_t:3605            t:46875                epi:nan
+opt_step:187440        lr:0.0003              clip_eps:0.2           entropy:0.2595
+2026-03-14 22:30:45 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:34.34     total_reward_ma:31.04  loss:-0.0114           fps:2.663e+04
+frame:9.61e+07         wall_t:3609            t:46924                epi:nan
+opt_step:187680        lr:0.0003              clip_eps:0.2           entropy:0.3839
+2026-03-14 22:30:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.18     total_reward_ma:31.05  loss:-0.01054          fps:2.663e+04
+frame:9.62e+07         wall_t:3613            t:46973                epi:nan
+opt_step:187840        lr:0.0003              clip_eps:0.2           entropy:0.401
+2026-03-14 22:30:53 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.13     total_reward_ma:31.08  loss:-0.01189          fps:2.662e+04
+frame:9.63e+07         wall_t:3617            t:47022                epi:nan
+opt_step:188080        lr:0.0003              clip_eps:0.2           entropy:0.5669
+2026-03-14 22:30:56 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:34.03     total_reward_ma:31.12  loss:-0.009818         fps:2.663e+04
+frame:9.64e+07         wall_t:3620            t:47071                epi:nan
+opt_step:188240        lr:0.0003              clip_eps:0.2           entropy:0.3575
+2026-03-14 22:31:00 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.04     total_reward_ma:31.18  loss:-0.01143          fps:2.663e+04
+frame:9.65e+07         wall_t:3624            t:47120                epi:nan
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+2026-03-14 22:31:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.98     total_reward_ma:31.21  loss:-0.01082          fps:2.663e+04
+frame:9.66e+07         wall_t:3628            t:47168                epi:nan
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+2026-03-14 22:31:07 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.45     total_reward_ma:31.25  loss:-0.009966         fps:2.663e+04
+frame:9.67e+07         wall_t:3631            t:47217                epi:nan
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+2026-03-14 22:31:11 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:30.78     total_reward_ma:31.28  loss:-0.01119          fps:2.663e+04
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+2026-03-14 22:31:14 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.21     total_reward_ma:31.31  loss:-0.01134          fps:2.664e+04
+frame:9.69e+07         wall_t:3638            t:47315                epi:nan
+opt_step:189200        lr:0.0003              clip_eps:0.2           entropy:0.4616
+2026-03-14 22:31:18 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.46     total_reward_ma:31.34  loss:-0.01047          fps:2.663e+04
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+2026-03-14 22:31:21 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.60     total_reward_ma:31.38  loss:-0.01116          fps:2.664e+04
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+2026-03-14 22:31:25 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.90     total_reward_ma:31.39  loss:-0.009807         fps:2.664e+04
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+2026-03-14 22:31:29 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.09     total_reward_ma:31.42  loss:-0.01205          fps:2.664e+04
+frame:9.73e+07         wall_t:3653            t:47510                epi:nan
+opt_step:190000        lr:0.0003              clip_eps:0.2           entropy:0.568
+2026-03-14 22:31:32 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.81     total_reward_ma:31.43  loss:-0.0127           fps:2.664e+04
+frame:9.74e+07         wall_t:3656            t:47559                epi:nan
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+2026-03-14 22:31:36 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:33.30     total_reward_ma:31.49  loss:-0.01201          fps:2.664e+04
+frame:9.75e+07         wall_t:3660            t:47608                epi:nan
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+2026-03-14 22:31:39 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.08     total_reward_ma:31.53  loss:-0.01202          fps:2.665e+04
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+2026-03-14 22:32:34 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:32:49 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:32:52 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:32:55 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:32:58 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:33:01 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
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+2026-03-14 22:33:04 | INFO | PID:1749 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s1 [train]
+total_reward:31.67     total_reward_ma:32.02  loss:-0.0117           fps:2.668e+04
+frame:1.00e+08         wall_t:3748            t:48829                epi:nan
+opt_step:195280        lr:0.0003              clip_eps:0.2           entropy:0.5137
+2026-03-14 22:33:04 | INFO | PID:1749 | slm_lab.lib.logger:info | Session 1 done
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2.log b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2.log
new file mode 100644
index 0000000000000000000000000000000000000000..af94bf6212b556bcc5385073fc208d07b0075117
--- /dev/null
+++ b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2.log
@@ -0,0 +1,4003 @@
+2026-03-14 21:30:24 | INFO | PID:1750 | slm_lab.env:make_env | Playground device: GPU (cuda) — DLPack zero-copy
+2026-03-14 21:30:36 | INFO | PID:1750 | slm_lab.env:_make_playground_env | Playground: JAX→PyTorch via DLPack zero-copy (GPU)
+2026-03-14 21:32:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:32:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:32:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:32:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:32:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:32:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:32:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:32:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:32:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:33:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:34:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.80e+06        wall_t:255            t:1856                epi:nan
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+2026-03-14 21:34:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.90e+06        wall_t:259            t:1905                epi:nan
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+2026-03-14 21:34:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.00e+06        wall_t:263            t:1954                epi:nan
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+2026-03-14 21:35:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.10e+06        wall_t:267            t:2002                epi:nan
+opt_step:8000         lr:0.0003             clip_eps:0.2          entropy:10.19
+2026-03-14 21:35:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.20e+06        wall_t:270            t:2051                epi:nan
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+2026-03-14 21:35:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.30e+06        wall_t:274            t:2100                epi:nan
+opt_step:8400         lr:0.0003             clip_eps:0.2          entropy:9.9
+2026-03-14 21:35:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.40e+06        wall_t:278            t:2149                epi:nan
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+2026-03-14 21:35:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.50e+06        wall_t:281            t:2198                epi:nan
+opt_step:8720         lr:0.0003             clip_eps:0.2          entropy:9.207
+2026-03-14 21:35:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.60e+06        wall_t:285            t:2247                epi:nan
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+2026-03-14 21:35:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.70e+06        wall_t:289            t:2295                epi:nan
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+2026-03-14 21:35:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.80e+06        wall_t:293            t:2344                epi:nan
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+2026-03-14 21:35:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.90e+06        wall_t:296            t:2393                epi:nan
+opt_step:9520         lr:0.0003             clip_eps:0.2          entropy:8.535
+2026-03-14 21:35:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.00e+06        wall_t:300            t:2442                epi:nan
+opt_step:9760         lr:0.0003             clip_eps:0.2          entropy:8.167
+2026-03-14 21:35:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:1.97     total_reward_ma:0.47  loss:-0.04833         fps:1.684e+04
+frame:5.10e+06        wall_t:303            t:2491                epi:nan
+opt_step:9920         lr:0.0003             clip_eps:0.2          entropy:7.503
+2026-03-14 21:35:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:1.77     total_reward_ma:0.50  loss:-0.04927         fps:1.689e+04
+frame:5.20e+06        wall_t:308            t:2540                epi:nan
+opt_step:10160        lr:0.0003             clip_eps:0.2          entropy:7.708
+2026-03-14 21:35:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:2.04     total_reward_ma:0.53  loss:-0.04713         fps:1.704e+04
+frame:5.30e+06        wall_t:311            t:2588                epi:nan
+opt_step:10320        lr:0.0003             clip_eps:0.2          entropy:7.348
+2026-03-14 21:35:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:2.87     total_reward_ma:0.57  loss:-0.04693         fps:1.714e+04
+frame:5.40e+06        wall_t:315            t:2637                epi:nan
+opt_step:10480        lr:0.0003             clip_eps:0.2          entropy:6.988
+2026-03-14 21:35:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:2.10     total_reward_ma:0.60  loss:-0.04532         fps:1.724e+04
+frame:5.50e+06        wall_t:319            t:2686                epi:nan
+opt_step:10720        lr:0.0003             clip_eps:0.2          entropy:6.885
+2026-03-14 21:35:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:2.53     total_reward_ma:0.63  loss:-0.04607         fps:1.74e+04
+frame:5.60e+06        wall_t:322            t:2735                epi:nan
+opt_step:10880        lr:0.0003             clip_eps:0.2          entropy:7.076
+2026-03-14 21:36:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:4.15     total_reward_ma:0.69  loss:-0.04288         fps:1.744e+04
+frame:5.70e+06        wall_t:327            t:2784                epi:nan
+opt_step:11120        lr:0.0003             clip_eps:0.2          entropy:6.666
+2026-03-14 21:36:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.65     total_reward_ma:0.74  loss:-0.04483         fps:1.758e+04
+frame:5.80e+06        wall_t:330            t:2833                epi:nan
+opt_step:11280        lr:0.0003             clip_eps:0.2          entropy:7.024
+2026-03-14 21:36:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:2.83     total_reward_ma:0.78  loss:-0.04484         fps:1.767e+04
+frame:5.90e+06        wall_t:334            t:2881                epi:nan
+opt_step:11520        lr:0.0003             clip_eps:0.2          entropy:6.807
+2026-03-14 21:36:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.22     total_reward_ma:0.82  loss:-0.04511         fps:1.775e+04
+frame:6.00e+06        wall_t:338            t:2930                epi:nan
+opt_step:11680        lr:0.0003             clip_eps:0.2          entropy:6.638
+2026-03-14 21:36:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.55     total_reward_ma:0.86  loss:-0.04749         fps:1.789e+04
+frame:6.10e+06        wall_t:341            t:2979                epi:nan
+opt_step:11840        lr:0.0003             clip_eps:0.2          entropy:7.138
+2026-03-14 21:36:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.59     total_reward_ma:0.91  loss:-0.04701         fps:1.792e+04
+frame:6.20e+06        wall_t:346            t:3028                epi:nan
+opt_step:12080        lr:0.0003             clip_eps:0.2          entropy:7.008
+2026-03-14 21:36:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:4.17     total_reward_ma:0.96  loss:-0.04687         fps:1.806e+04
+frame:6.30e+06        wall_t:349            t:3077                epi:nan
+opt_step:12240        lr:0.0003             clip_eps:0.2          entropy:6.893
+2026-03-14 21:36:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.74     total_reward_ma:1.00  loss:-0.04591         fps:1.813e+04
+frame:6.40e+06        wall_t:353            t:3125                epi:nan
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+2026-03-14 21:36:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.48     total_reward_ma:1.04  loss:-0.04694         fps:1.821e+04
+frame:6.50e+06        wall_t:357            t:3174                epi:nan
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+2026-03-14 21:36:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.85     total_reward_ma:1.08  loss:-0.04589         fps:1.828e+04
+frame:6.60e+06        wall_t:361            t:3223                epi:nan
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+2026-03-14 21:36:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.74     total_reward_ma:1.12  loss:-0.04363         fps:1.841e+04
+frame:6.70e+06        wall_t:364            t:3272                epi:nan
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+2026-03-14 21:36:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:4.21     total_reward_ma:1.17  loss:-0.0443          fps:18432
+frame:6.80e+06        wall_t:369            t:3321                epi:nan
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+2026-03-14 21:36:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:5.03     total_reward_ma:1.23  loss:-0.04538         fps:1.855e+04
+frame:6.90e+06        wall_t:372            t:3370                epi:nan
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+2026-03-14 21:36:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.56     total_reward_ma:1.26  loss:-0.04625         fps:1.862e+04
+frame:7.00e+06        wall_t:376            t:3418                epi:nan
+opt_step:13600        lr:0.0003             clip_eps:0.2          entropy:6.78
+2026-03-14 21:36:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:4.76     total_reward_ma:1.31  loss:-0.04418         fps:1.869e+04
+frame:7.10e+06        wall_t:380            t:3467                epi:nan
+opt_step:13840        lr:0.0003             clip_eps:0.2          entropy:6.301
+2026-03-14 21:37:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:3.76     total_reward_ma:1.34  loss:-0.04417         fps:18752
+frame:7.20e+06        wall_t:384            t:3516                epi:nan
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+2026-03-14 21:37:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:4.30     total_reward_ma:1.38  loss:-0.04533         fps:1.882e+04
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+opt_step:14240        lr:0.0003             clip_eps:0.2          entropy:6.309
+2026-03-14 21:37:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:37:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:38:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:38:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:38:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.00e+06        wall_t:454            t:4395                epi:nan
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+2026-03-14 21:38:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.10e+06        wall_t:458            t:4444                epi:nan
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+2026-03-14 21:38:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.20e+06        wall_t:462            t:4493                epi:nan
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+2026-03-14 21:38:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.30e+06        wall_t:466            t:4542                epi:nan
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+2026-03-14 21:38:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.40e+06        wall_t:469            t:4590                epi:nan
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+2026-03-14 21:38:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.50e+06        wall_t:472            t:4639                epi:nan
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+2026-03-14 21:38:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.60e+06        wall_t:477            t:4688                epi:nan
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+2026-03-14 21:38:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.70e+06        wall_t:480            t:4737                epi:nan
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+2026-03-14 21:38:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.80e+06        wall_t:484            t:4786                epi:nan
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+2026-03-14 21:38:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:7.89     total_reward_ma:2.77  loss:-0.03524         fps:2.029e+04
+frame:9.90e+06        wall_t:488            t:4834                epi:nan
+opt_step:19280        lr:0.0003             clip_eps:0.2          entropy:5.201
+2026-03-14 21:38:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.00     total_reward_ma:2.83  loss:-0.03756         fps:2.033e+04
+frame:1.00e+07        wall_t:492            t:4883                epi:nan
+opt_step:19520        lr:0.0003             clip_eps:0.2          entropy:5.106
+2026-03-14 21:38:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.81     total_reward_ma:2.93  loss:-0.03499         fps:2.041e+04
+frame:1.01e+07        wall_t:495            t:4932                epi:nan
+opt_step:19680        lr:0.0003             clip_eps:0.2          entropy:5.119
+2026-03-14 21:38:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.51     total_reward_ma:3.02  loss:-0.03622         fps:2.044e+04
+frame:1.02e+07        wall_t:499            t:4981                epi:nan
+opt_step:19920        lr:0.0003             clip_eps:0.2          entropy:5.359
+2026-03-14 21:38:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.55     total_reward_ma:3.12  loss:-0.03829         fps:20480
+frame:1.03e+07        wall_t:503            t:5030                epi:nan
+opt_step:20080        lr:0.0003             clip_eps:0.2          entropy:5.274
+2026-03-14 21:39:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:8.54     total_reward_ma:3.20  loss:-0.03462         fps:2.056e+04
+frame:1.04e+07        wall_t:506            t:5079                epi:nan
+opt_step:20240        lr:0.0003             clip_eps:0.2          entropy:5.009
+2026-03-14 21:39:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:6.89     total_reward_ma:3.27  loss:-0.03845         fps:2.059e+04
+frame:1.05e+07        wall_t:510            t:5127                epi:nan
+opt_step:20480        lr:0.0003             clip_eps:0.2          entropy:5.034
+2026-03-14 21:39:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:8.26     total_reward_ma:3.35  loss:-0.03464         fps:2.066e+04
+frame:1.06e+07        wall_t:513            t:5176                epi:nan
+opt_step:20640        lr:0.0003             clip_eps:0.2          entropy:4.541
+2026-03-14 21:39:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:7.95     total_reward_ma:3.43  loss:-0.0351          fps:2.07e+04
+frame:1.07e+07        wall_t:517            t:5225                epi:nan
+opt_step:20880        lr:0.0003             clip_eps:0.2          entropy:4.793
+2026-03-14 21:39:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:7.19     total_reward_ma:3.51  loss:-0.03401         fps:2.073e+04
+frame:1.08e+07        wall_t:521            t:5274                epi:nan
+opt_step:21040        lr:0.0003             clip_eps:0.2          entropy:4.611
+2026-03-14 21:39:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:8.83     total_reward_ma:3.59  loss:-0.0367          fps:2.076e+04
+frame:1.09e+07        wall_t:525            t:5323                epi:nan
+opt_step:21280        lr:0.0003             clip_eps:0.2          entropy:5.228
+2026-03-14 21:39:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:8.91     total_reward_ma:3.68  loss:-0.03575         fps:2.084e+04
+frame:1.10e+07        wall_t:528            t:5372                epi:nan
+opt_step:21440        lr:0.0003             clip_eps:0.2          entropy:4.86
+2026-03-14 21:39:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.02     total_reward_ma:3.77  loss:-0.03309         fps:2.086e+04
+frame:1.11e+07        wall_t:532            t:5420                epi:nan
+opt_step:21680        lr:0.0003             clip_eps:0.2          entropy:4.885
+2026-03-14 21:39:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.53     total_reward_ma:3.87  loss:-0.03458         fps:2.09e+04
+frame:1.12e+07        wall_t:536            t:5469                epi:nan
+opt_step:21840        lr:0.0003             clip_eps:0.2          entropy:4.757
+2026-03-14 21:39:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:10.22    total_reward_ma:3.97  loss:-0.03484         fps:2.097e+04
+frame:1.13e+07        wall_t:539            t:5518                epi:nan
+opt_step:22000        lr:0.0003             clip_eps:0.2          entropy:4.483
+2026-03-14 21:39:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.29     total_reward_ma:4.06  loss:-0.03377         fps:2.1e+04
+frame:1.14e+07        wall_t:543            t:5567                epi:nan
+opt_step:22240        lr:0.0003             clip_eps:0.2          entropy:4.689
+2026-03-14 21:39:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.07     total_reward_ma:4.15  loss:-0.03159         fps:2.103e+04
+frame:1.15e+07        wall_t:547            t:5616                epi:nan
+opt_step:22400        lr:0.0003             clip_eps:0.2          entropy:4.762
+2026-03-14 21:39:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.82     total_reward_ma:4.25  loss:-0.03186         fps:2.106e+04
+frame:1.16e+07        wall_t:551            t:5665                epi:nan
+opt_step:22640        lr:0.0003             clip_eps:0.2          entropy:4.426
+2026-03-14 21:39:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:10.19    total_reward_ma:4.35  loss:-0.03114         fps:2.112e+04
+frame:1.17e+07        wall_t:554            t:5713                epi:nan
+opt_step:22800        lr:0.0003             clip_eps:0.2          entropy:4.218
+2026-03-14 21:39:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:11.01    total_reward_ma:4.46  loss:-0.03036         fps:2.115e+04
+frame:1.18e+07        wall_t:558            t:5762                epi:nan
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+2026-03-14 21:39:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:8.74     total_reward_ma:4.55  loss:-0.03262         fps:2.118e+04
+frame:1.19e+07        wall_t:562            t:5811                epi:nan
+opt_step:23200        lr:0.0003             clip_eps:0.2          entropy:4.721
+2026-03-14 21:40:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:9.15     total_reward_ma:4.64  loss:-0.03444         fps:2.12e+04
+frame:1.20e+07        wall_t:566            t:5860                epi:nan
+opt_step:23440        lr:0.0003             clip_eps:0.2          entropy:4.639
+2026-03-14 21:40:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:10.22    total_reward_ma:4.74  loss:-0.0351          fps:2.127e+04
+frame:1.21e+07        wall_t:569            t:5909                epi:nan
+opt_step:23600        lr:0.0003             clip_eps:0.2          entropy:4.614
+2026-03-14 21:40:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:10.59    total_reward_ma:4.85  loss:-0.03227         fps:2.133e+04
+frame:1.22e+07        wall_t:572            t:5958                epi:nan
+opt_step:23760        lr:0.0003             clip_eps:0.2          entropy:4.392
+2026-03-14 21:40:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.23e+07        wall_t:577            t:6006                epi:nan
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+2026-03-14 21:40:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:40:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:41:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:41:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:41:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:41:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:41:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:41:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:41:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.42e+07        wall_t:646            t:6934                epi:nan
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+2026-03-14 21:41:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.43e+07        wall_t:651            t:6983                epi:nan
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+2026-03-14 21:41:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.44e+07        wall_t:654            t:7032                epi:nan
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+2026-03-14 21:41:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.45e+07        wall_t:659            t:7081                epi:nan
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+2026-03-14 21:41:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.46e+07        wall_t:662            t:7129                epi:nan
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+2026-03-14 21:41:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.47e+07        wall_t:665            t:7178                epi:nan
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+2026-03-14 21:41:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.48e+07        wall_t:669            t:7227                epi:nan
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+2026-03-14 21:41:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.49e+07        wall_t:672            t:7276                epi:nan
+opt_step:29040        lr:0.0003             clip_eps:0.2          entropy:4.631
+2026-03-14 21:41:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:11.16    total_reward_ma:7.77  loss:-0.0324          fps:2.216e+04
+frame:1.50e+07        wall_t:677            t:7325                epi:nan
+opt_step:29280        lr:0.0003             clip_eps:0.2          entropy:4.565
+2026-03-14 21:41:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:13.05    total_reward_ma:7.88  loss:-0.02934         fps:2.221e+04
+frame:1.51e+07        wall_t:680            t:7374                epi:nan
+opt_step:29440        lr:0.0003             clip_eps:0.2          entropy:4.139
+2026-03-14 21:42:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:11.58    total_reward_ma:7.98  loss:-0.02971         fps:2.222e+04
+frame:1.52e+07        wall_t:684            t:7422                epi:nan
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+2026-03-14 21:42:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:11.55    total_reward_ma:8.07  loss:-0.03029         fps:2.224e+04
+frame:1.53e+07        wall_t:688            t:7471                epi:nan
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+2026-03-14 21:42:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:12.25    total_reward_ma:8.16  loss:-0.03332         fps:2.226e+04
+frame:1.54e+07        wall_t:692            t:7520                epi:nan
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+2026-03-14 21:42:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:11.96    total_reward_ma:8.26  loss:-0.03134         fps:2.23e+04
+frame:1.55e+07        wall_t:695            t:7569                epi:nan
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+2026-03-14 21:42:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:12.25    total_reward_ma:8.36  loss:-0.02902         fps:2.232e+04
+frame:1.56e+07        wall_t:699            t:7618                epi:nan
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+2026-03-14 21:42:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:12.07    total_reward_ma:8.44  loss:-0.03022         fps:2.234e+04
+frame:1.57e+07        wall_t:703            t:7667                epi:nan
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+2026-03-14 21:42:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:12.79    total_reward_ma:8.53  loss:-0.03242         fps:2.238e+04
+frame:1.58e+07        wall_t:706            t:7715                epi:nan
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+2026-03-14 21:42:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:13.26    total_reward_ma:8.64  loss:-0.03052         fps:2.24e+04
+frame:1.59e+07        wall_t:710            t:7764                epi:nan
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+2026-03-14 21:42:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:10.91    total_reward_ma:8.71  loss:-0.02983         fps:2.244e+04
+frame:1.60e+07        wall_t:713            t:7813                epi:nan
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+2026-03-14 21:42:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:11.90    total_reward_ma:8.80  loss:-0.03125         fps:2.246e+04
+frame:1.61e+07        wall_t:717            t:7862                epi:nan
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+2026-03-14 21:42:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:42:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:42:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:11.54    total_reward_ma:9.04  loss:-0.03358         fps:2.256e+04
+frame:1.64e+07        wall_t:727            t:8008                epi:nan
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+2026-03-14 21:42:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:42:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:42:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:42:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:43:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.69e+07        wall_t:745            t:8252                epi:nan
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+2026-03-14 21:43:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:43:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.71e+07        wall_t:752            t:8350                epi:nan
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+2026-03-14 21:43:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:12.76    total_reward_ma:9.69  loss:-0.03139         fps:2.278e+04
+frame:1.72e+07        wall_t:755            t:8399                epi:nan
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+2026-03-14 21:43:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.73e+07        wall_t:760            t:8448                epi:nan
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+2026-03-14 21:43:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.74e+07        wall_t:763            t:8497                epi:nan
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+2026-03-14 21:43:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.75e+07        wall_t:767            t:8545                epi:nan
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+2026-03-14 21:43:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:43:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:43:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:43:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:43:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:43:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:43:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.82e+07         wall_t:792             t:8887                 epi:nan
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+2026-03-14 21:43:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.83e+07         wall_t:795             t:8936                 epi:nan
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+2026-03-14 21:43:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.84e+07         wall_t:799             t:8985                 epi:nan
+opt_step:35920         lr:0.0003              clip_eps:0.2           entropy:3.901
+2026-03-14 21:43:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.85e+07         wall_t:803             t:9034                 epi:nan
+opt_step:36080         lr:0.0003              clip_eps:0.2           entropy:3.98
+2026-03-14 21:44:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.86e+07         wall_t:807             t:9083                 epi:nan
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+2026-03-14 21:44:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.87e+07         wall_t:810             t:9131                 epi:nan
+opt_step:36480         lr:0.0003              clip_eps:0.2           entropy:4.083
+2026-03-14 21:44:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.88e+07         wall_t:814             t:9180                 epi:nan
+opt_step:36720         lr:0.0003              clip_eps:0.2           entropy:3.517
+2026-03-14 21:44:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.89e+07         wall_t:817             t:9229                 epi:nan
+opt_step:36880         lr:0.0003              clip_eps:0.2           entropy:3.415
+2026-03-14 21:44:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.90e+07         wall_t:821             t:9278                 epi:nan
+opt_step:37040         lr:0.0003              clip_eps:0.2           entropy:3.629
+2026-03-14 21:44:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.91e+07         wall_t:825             t:9327                 epi:nan
+opt_step:37280         lr:0.0003              clip_eps:0.2           entropy:3.537
+2026-03-14 21:44:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.92e+07         wall_t:828             t:9375                 epi:nan
+opt_step:37440         lr:0.0003              clip_eps:0.2           entropy:3.826
+2026-03-14 21:44:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.93e+07         wall_t:832             t:9424                 epi:nan
+opt_step:37680         lr:0.0003              clip_eps:0.2           entropy:3.999
+2026-03-14 21:44:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.94e+07         wall_t:835             t:9473                 epi:nan
+opt_step:37840         lr:0.0003              clip_eps:0.2           entropy:4.001
+2026-03-14 21:44:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.95e+07         wall_t:840             t:9522                 epi:nan
+opt_step:38080         lr:0.0003              clip_eps:0.2           entropy:3.876
+2026-03-14 21:44:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.96e+07         wall_t:843             t:9571                 epi:nan
+opt_step:38240         lr:0.0003              clip_eps:0.2           entropy:3.778
+2026-03-14 21:44:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:1.97e+07         wall_t:847             t:9620                 epi:nan
+opt_step:38480         lr:0.0003              clip_eps:0.2           entropy:4.116
+2026-03-14 21:44:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:14.90     total_reward_ma:11.72  loss:-0.02696          fps:2.329e+04
+frame:1.98e+07         wall_t:850             t:9668                 epi:nan
+opt_step:38640         lr:0.0003              clip_eps:0.2           entropy:3.9
+2026-03-14 21:44:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:15.58     total_reward_ma:11.79  loss:-0.02997          fps:2.333e+04
+frame:1.99e+07         wall_t:853             t:9717                 epi:nan
+opt_step:38800         lr:0.0003              clip_eps:0.2           entropy:3.798
+2026-03-14 21:44:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:14.77     total_reward_ma:11.85  loss:-0.02761          fps:2.334e+04
+frame:2.00e+07         wall_t:857             t:9766                 epi:nan
+opt_step:39040         lr:0.0003              clip_eps:0.2           entropy:3.746
+2026-03-14 21:44:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.39     total_reward_ma:11.92  loss:-0.02823          fps:2.335e+04
+frame:2.01e+07         wall_t:861             t:9815                 epi:nan
+opt_step:39200         lr:0.0003              clip_eps:0.2           entropy:3.778
+2026-03-14 21:45:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:15.53     total_reward_ma:11.98  loss:-0.02676          fps:2.335e+04
+frame:2.02e+07         wall_t:865             t:9864                 epi:nan
+opt_step:39440         lr:0.0003              clip_eps:0.2           entropy:3.931
+2026-03-14 21:45:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:14.76     total_reward_ma:12.03  loss:-0.02604          fps:2.339e+04
+frame:2.03e+07         wall_t:868             t:9913                 epi:nan
+opt_step:39600         lr:0.0003              clip_eps:0.2           entropy:3.826
+2026-03-14 21:45:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:15.06     total_reward_ma:12.09  loss:-0.02897          fps:2.339e+04
+frame:2.04e+07         wall_t:872             t:9961                 epi:nan
+opt_step:39840         lr:0.0003              clip_eps:0.2           entropy:4.001
+2026-03-14 21:45:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:14.63     total_reward_ma:12.17  loss:-0.02726          fps:2.343e+04
+frame:2.05e+07         wall_t:875             t:10010                epi:nan
+opt_step:40000         lr:0.0003              clip_eps:0.2           entropy:4.182
+2026-03-14 21:45:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.24     total_reward_ma:12.25  loss:-0.02852          fps:2.344e+04
+frame:2.06e+07         wall_t:879             t:10059                epi:nan
+opt_step:40160         lr:0.0003              clip_eps:0.2           entropy:3.918
+2026-03-14 21:45:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.02     total_reward_ma:12.34  loss:-0.0274           fps:2.344e+04
+frame:2.07e+07         wall_t:883             t:10108                epi:nan
+opt_step:40400         lr:0.0003              clip_eps:0.2           entropy:4.111
+2026-03-14 21:45:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:13.97     total_reward_ma:12.41  loss:-0.02865          fps:2.348e+04
+frame:2.08e+07         wall_t:886             t:10157                epi:nan
+opt_step:40560         lr:0.0003              clip_eps:0.2           entropy:4.178
+2026-03-14 21:45:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:15.31     total_reward_ma:12.47  loss:-0.02824          fps:2.349e+04
+frame:2.09e+07         wall_t:890             t:10206                epi:nan
+opt_step:40800         lr:0.0003              clip_eps:0.2           entropy:3.972
+2026-03-14 21:45:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:14.52     total_reward_ma:12.53  loss:-0.02684          fps:2.352e+04
+frame:2.10e+07         wall_t:893             t:10254                epi:nan
+opt_step:40960         lr:0.0003              clip_eps:0.2           entropy:3.818
+2026-03-14 21:45:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:15.93     total_reward_ma:12.60  loss:-0.02731          fps:2.352e+04
+frame:2.11e+07         wall_t:897             t:10303                epi:nan
+opt_step:41200         lr:0.0003              clip_eps:0.2           entropy:3.715
+2026-03-14 21:45:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:15.78     total_reward_ma:12.66  loss:-0.02853          fps:2.353e+04
+frame:2.12e+07         wall_t:901             t:10352                epi:nan
+opt_step:41360         lr:0.0003              clip_eps:0.2           entropy:3.749
+2026-03-14 21:45:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.81     total_reward_ma:12.73  loss:-0.02585          fps:2.354e+04
+frame:2.13e+07         wall_t:905             t:10401                epi:nan
+opt_step:41600         lr:0.0003              clip_eps:0.2           entropy:3.548
+2026-03-14 21:45:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:15.81     total_reward_ma:12.79  loss:-0.02808          fps:2.357e+04
+frame:2.14e+07         wall_t:908             t:10450                epi:nan
+opt_step:41760         lr:0.0003              clip_eps:0.2           entropy:3.925
+2026-03-14 21:45:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.73     total_reward_ma:12.87  loss:-0.0279           fps:2.36e+04
+frame:2.15e+07         wall_t:911             t:10499                epi:nan
+opt_step:41920         lr:0.0003              clip_eps:0.2           entropy:3.987
+2026-03-14 21:45:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.91     total_reward_ma:12.94  loss:-0.02701          fps:2.358e+04
+frame:2.16e+07         wall_t:916             t:10547                epi:nan
+opt_step:42160         lr:0.0003              clip_eps:0.2           entropy:3.721
+2026-03-14 21:45:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:14.61     total_reward_ma:12.98  loss:-0.02805          fps:2.361e+04
+frame:2.17e+07         wall_t:919             t:10596                epi:nan
+opt_step:42320         lr:0.0003              clip_eps:0.2           entropy:3.888
+2026-03-14 21:45:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.75     total_reward_ma:13.06  loss:-0.02632          fps:2.362e+04
+frame:2.18e+07         wall_t:923             t:10645                epi:nan
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+2026-03-14 21:46:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.20     total_reward_ma:13.14  loss:-0.02833          fps:2.365e+04
+frame:2.19e+07         wall_t:926             t:10694                epi:nan
+opt_step:42720         lr:0.0003              clip_eps:0.2           entropy:3.778
+2026-03-14 21:46:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.52     total_reward_ma:13.21  loss:-0.02643          fps:2.363e+04
+frame:2.20e+07         wall_t:931             t:10743                epi:nan
+opt_step:42960         lr:0.0003              clip_eps:0.2           entropy:3.681
+2026-03-14 21:46:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.01     total_reward_ma:13.29  loss:-0.0267           fps:2.366e+04
+frame:2.21e+07         wall_t:934             t:10792                epi:nan
+opt_step:43120         lr:0.0003              clip_eps:0.2           entropy:3.866
+2026-03-14 21:46:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.22e+07         wall_t:938             t:10840                epi:nan
+opt_step:43360         lr:0.0003              clip_eps:0.2           entropy:3.883
+2026-03-14 21:46:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.23e+07         wall_t:941             t:10889                epi:nan
+opt_step:43520         lr:0.0003              clip_eps:0.2           entropy:4.297
+2026-03-14 21:46:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+opt_step:43680         lr:0.0003              clip_eps:0.2           entropy:3.858
+2026-03-14 21:46:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.25e+07         wall_t:949             t:10987                epi:nan
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+2026-03-14 21:46:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.26e+07         wall_t:952             t:11036                epi:nan
+opt_step:44080         lr:0.0003              clip_eps:0.2           entropy:3.969
+2026-03-14 21:46:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.27e+07         wall_t:956             t:11084                epi:nan
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+2026-03-14 21:46:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.28e+07         wall_t:960             t:11133                epi:nan
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+2026-03-14 21:46:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:46:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.30e+07         wall_t:967             t:11231                epi:nan
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+2026-03-14 21:46:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.31e+07         wall_t:971             t:11280                epi:nan
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+2026-03-14 21:46:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.32e+07         wall_t:974             t:11329                epi:nan
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+2026-03-14 21:46:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.33e+07         wall_t:977             t:11377                epi:nan
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+2026-03-14 21:46:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:47:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.35e+07         wall_t:985             t:11475                epi:nan
+opt_step:45840         lr:0.0003              clip_eps:0.2           entropy:3.835
+2026-03-14 21:47:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.36e+07         wall_t:989             t:11524                epi:nan
+opt_step:46080         lr:0.0003              clip_eps:0.2           entropy:3.503
+2026-03-14 21:47:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.37e+07         wall_t:992             t:11573                epi:nan
+opt_step:46240         lr:0.0003              clip_eps:0.2           entropy:3.771
+2026-03-14 21:47:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.38e+07         wall_t:996             t:11622                epi:nan
+opt_step:46480         lr:0.0003              clip_eps:0.2           entropy:3.35
+2026-03-14 21:47:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.39e+07         wall_t:1000            t:11670                epi:nan
+opt_step:46640         lr:0.0003              clip_eps:0.2           entropy:3.497
+2026-03-14 21:47:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.40e+07         wall_t:1003            t:11719                epi:nan
+opt_step:46800         lr:0.0003              clip_eps:0.2           entropy:3.458
+2026-03-14 21:47:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.41e+07         wall_t:1006            t:11768                epi:nan
+opt_step:47040         lr:0.0003              clip_eps:0.2           entropy:3.65
+2026-03-14 21:47:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.02     total_reward_ma:14.68  loss:-0.02576          fps:2.399e+04
+frame:2.42e+07         wall_t:1009            t:11817                epi:nan
+opt_step:47200         lr:0.0003              clip_eps:0.2           entropy:3.566
+2026-03-14 21:47:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.43e+07         wall_t:1013            t:11866                epi:nan
+opt_step:47440         lr:0.0003              clip_eps:0.2           entropy:3.555
+2026-03-14 21:47:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.07     total_reward_ma:14.78  loss:-0.02541          fps:2.399e+04
+frame:2.44e+07         wall_t:1017            t:11915                epi:nan
+opt_step:47600         lr:0.0003              clip_eps:0.2           entropy:3.566
+2026-03-14 21:47:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.98     total_reward_ma:14.84  loss:-0.02686          fps:2.402e+04
+frame:2.45e+07         wall_t:1020            t:11963                epi:nan
+opt_step:47840         lr:0.0003              clip_eps:0.2           entropy:3.786
+2026-03-14 21:47:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.94     total_reward_ma:14.90  loss:-0.02389          fps:24024
+frame:2.46e+07         wall_t:1024            t:12012                epi:nan
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+2026-03-14 21:47:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.41     total_reward_ma:14.94  loss:-0.02378          fps:2.403e+04
+frame:2.47e+07         wall_t:1028            t:12061                epi:nan
+opt_step:48240         lr:0.0003              clip_eps:0.2           entropy:3.503
+2026-03-14 21:47:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.80     total_reward_ma:15.02  loss:-0.02404          fps:2.406e+04
+frame:2.48e+07         wall_t:1031            t:12110                epi:nan
+opt_step:48400         lr:0.0003              clip_eps:0.2           entropy:3.397
+2026-03-14 21:47:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.53     total_reward_ma:15.07  loss:-0.02515          fps:2.408e+04
+frame:2.49e+07         wall_t:1034            t:12159                epi:nan
+opt_step:48560         lr:0.0003              clip_eps:0.2           entropy:3.25
+2026-03-14 21:47:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.69     total_reward_ma:15.15  loss:-0.02554          fps:2.409e+04
+frame:2.50e+07         wall_t:1038            t:12208                epi:nan
+opt_step:48800         lr:0.0003              clip_eps:0.2           entropy:3.589
+2026-03-14 21:47:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.06     total_reward_ma:15.21  loss:-0.02492          fps:2.411e+04
+frame:2.51e+07         wall_t:1041            t:12256                epi:nan
+opt_step:48960         lr:0.0003              clip_eps:0.2           entropy:3.736
+2026-03-14 21:48:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.09     total_reward_ma:15.29  loss:-0.02585          fps:2.412e+04
+frame:2.52e+07         wall_t:1045            t:12305                epi:nan
+opt_step:49200         lr:0.0003              clip_eps:0.2           entropy:3.43
+2026-03-14 21:48:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.25     total_reward_ma:15.34  loss:-0.02619          fps:2.412e+04
+frame:2.53e+07         wall_t:1049            t:12354                epi:nan
+opt_step:49360         lr:0.0003              clip_eps:0.2           entropy:3.575
+2026-03-14 21:48:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.23     total_reward_ma:15.40  loss:-0.02556          fps:2.412e+04
+frame:2.54e+07         wall_t:1053            t:12403                epi:nan
+opt_step:49600         lr:0.0003              clip_eps:0.2           entropy:3.593
+2026-03-14 21:48:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.35     total_reward_ma:15.49  loss:-0.02437          fps:2.415e+04
+frame:2.55e+07         wall_t:1056            t:12452                epi:nan
+opt_step:49760         lr:0.0003              clip_eps:0.2           entropy:3.238
+2026-03-14 21:48:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.24     total_reward_ma:15.56  loss:-0.02869          fps:2.415e+04
+frame:2.56e+07         wall_t:1060            t:12500                epi:nan
+opt_step:50000         lr:0.0003              clip_eps:0.2           entropy:3.879
+2026-03-14 21:48:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.51     total_reward_ma:15.61  loss:-0.02761          fps:2.415e+04
+frame:2.57e+07         wall_t:1064            t:12549                epi:nan
+opt_step:50160         lr:0.0003              clip_eps:0.2           entropy:3.435
+2026-03-14 21:48:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.16     total_reward_ma:15.69  loss:-0.02683          fps:2.418e+04
+frame:2.58e+07         wall_t:1067            t:12598                epi:nan
+opt_step:50320         lr:0.0003              clip_eps:0.2           entropy:3.394
+2026-03-14 21:48:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.18     total_reward_ma:15.75  loss:-0.02471          fps:2.418e+04
+frame:2.59e+07         wall_t:1071            t:12647                epi:nan
+opt_step:50560         lr:0.0003              clip_eps:0.2           entropy:3.275
+2026-03-14 21:48:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.54     total_reward_ma:15.84  loss:-0.02704          fps:2.421e+04
+frame:2.60e+07         wall_t:1074            t:12696                epi:nan
+opt_step:50720         lr:0.0003              clip_eps:0.2           entropy:3.996
+2026-03-14 21:48:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.76     total_reward_ma:15.91  loss:-0.02376          fps:2.421e+04
+frame:2.61e+07         wall_t:1078            t:12745                epi:nan
+opt_step:50960         lr:0.0003              clip_eps:0.2           entropy:3.671
+2026-03-14 21:48:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.91     total_reward_ma:15.99  loss:-0.02592          fps:2.421e+04
+frame:2.62e+07         wall_t:1082            t:12793                epi:nan
+opt_step:51120         lr:0.0003              clip_eps:0.2           entropy:3.636
+2026-03-14 21:48:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.30     total_reward_ma:16.07  loss:-0.02627          fps:2.422e+04
+frame:2.63e+07         wall_t:1086            t:12842                epi:nan
+opt_step:51360         lr:0.0003              clip_eps:0.2           entropy:3.412
+2026-03-14 21:48:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.16     total_reward_ma:16.18  loss:-0.02346          fps:2.424e+04
+frame:2.64e+07         wall_t:1089            t:12891                epi:nan
+opt_step:51520         lr:0.0003              clip_eps:0.2           entropy:3.203
+2026-03-14 21:48:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.07     total_reward_ma:16.27  loss:-0.02537          fps:2.425e+04
+frame:2.65e+07         wall_t:1093            t:12940                epi:nan
+opt_step:51760         lr:0.0003              clip_eps:0.2           entropy:3.22
+2026-03-14 21:48:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.10     total_reward_ma:16.37  loss:-0.0243           fps:2.425e+04
+frame:2.66e+07         wall_t:1097            t:12989                epi:nan
+opt_step:51920         lr:0.0003              clip_eps:0.2           entropy:3.223
+2026-03-14 21:48:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.05     total_reward_ma:16.42  loss:-0.02584          fps:2.427e+04
+frame:2.67e+07         wall_t:1100            t:13038                epi:nan
+opt_step:52080         lr:0.0003              clip_eps:0.2           entropy:3.595
+2026-03-14 21:49:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.13     total_reward_ma:16.50  loss:-0.02333          fps:2.428e+04
+frame:2.68e+07         wall_t:1104            t:13086                epi:nan
+opt_step:52320         lr:0.0003              clip_eps:0.2           entropy:3.291
+2026-03-14 21:49:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.78     total_reward_ma:16.55  loss:-0.02495          fps:2.43e+04
+frame:2.69e+07         wall_t:1107            t:13135                epi:nan
+opt_step:52480         lr:0.0003              clip_eps:0.2           entropy:3.576
+2026-03-14 21:49:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.31     total_reward_ma:16.61  loss:-0.02686          fps:2.428e+04
+frame:2.70e+07         wall_t:1112            t:13184                epi:nan
+opt_step:52720         lr:0.0003              clip_eps:0.2           entropy:3.446
+2026-03-14 21:49:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.65     total_reward_ma:16.68  loss:-0.02508          fps:2.431e+04
+frame:2.71e+07         wall_t:1115            t:13233                epi:nan
+opt_step:52880         lr:0.0003              clip_eps:0.2           entropy:3.302
+2026-03-14 21:49:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.72e+07         wall_t:1119            t:13282                epi:nan
+opt_step:53120         lr:0.0003              clip_eps:0.2           entropy:3.377
+2026-03-14 21:49:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.73e+07         wall_t:1122            t:13331                epi:nan
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+2026-03-14 21:49:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.80e+07         wall_t:1147            t:13672                epi:nan
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+2026-03-14 21:49:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:49:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.84e+07         wall_t:1162            t:13868                epi:nan
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+2026-03-14 21:50:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:50:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.86e+07         wall_t:1169            t:13965                epi:nan
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+2026-03-14 21:50:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.87e+07         wall_t:1172            t:14014                epi:nan
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+2026-03-14 21:50:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.01     total_reward_ma:17.57  loss:-0.02506          fps:2.449e+04
+frame:2.88e+07         wall_t:1176            t:14063                epi:nan
+opt_step:56240         lr:0.0003              clip_eps:0.2           entropy:3.368
+2026-03-14 21:50:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.81     total_reward_ma:17.60  loss:-0.0254           fps:2.449e+04
+frame:2.89e+07         wall_t:1180            t:14112                epi:nan
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+2026-03-14 21:50:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.13     total_reward_ma:17.64  loss:-0.02377          fps:2.449e+04
+frame:2.90e+07         wall_t:1184            t:14161                epi:nan
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+2026-03-14 21:50:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.71     total_reward_ma:17.73  loss:-0.02351          fps:2.452e+04
+frame:2.91e+07         wall_t:1187            t:14209                epi:nan
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+2026-03-14 21:50:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.92e+07         wall_t:1190            t:14258                epi:nan
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+2026-03-14 21:50:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.93e+07         wall_t:1195            t:14307                epi:nan
+opt_step:57200         lr:0.0003              clip_eps:0.2           entropy:3.393
+2026-03-14 21:50:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:2.94e+07         wall_t:1198            t:14356                epi:nan
+opt_step:57360         lr:0.0003              clip_eps:0.2           entropy:3.392
+2026-03-14 21:50:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:16.88     total_reward_ma:17.92  loss:-0.02298          fps:2.454e+04
+frame:2.95e+07         wall_t:1202            t:14405                epi:nan
+opt_step:57600         lr:0.0003              clip_eps:0.2           entropy:3.372
+2026-03-14 21:50:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.63     total_reward_ma:17.96  loss:-0.02406          fps:2.457e+04
+frame:2.96e+07         wall_t:1205            t:14454                epi:nan
+opt_step:57760         lr:0.0003              clip_eps:0.2           entropy:3.356
+2026-03-14 21:50:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.06     total_reward_ma:17.99  loss:-0.02507          fps:2.457e+04
+frame:2.97e+07         wall_t:1209            t:14502                epi:nan
+opt_step:58000         lr:0.0003              clip_eps:0.2           entropy:3.132
+2026-03-14 21:50:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.83     total_reward_ma:18.05  loss:-0.02409          fps:2.459e+04
+frame:2.98e+07         wall_t:1212            t:14551                epi:nan
+opt_step:58160         lr:0.0003              clip_eps:0.2           entropy:3.425
+2026-03-14 21:50:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.19     total_reward_ma:18.08  loss:-0.02406          fps:2.459e+04
+frame:2.99e+07         wall_t:1216            t:14600                epi:nan
+opt_step:58400         lr:0.0003              clip_eps:0.2           entropy:3.117
+2026-03-14 21:50:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.42     total_reward_ma:18.14  loss:-0.02321          fps:2.459e+04
+frame:3.00e+07         wall_t:1220            t:14649                epi:nan
+opt_step:58560         lr:0.0003              clip_eps:0.2           entropy:3.322
+2026-03-14 21:50:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.93     total_reward_ma:18.17  loss:-0.02398          fps:2.461e+04
+frame:3.01e+07         wall_t:1223            t:14698                epi:nan
+opt_step:58720         lr:0.0003              clip_eps:0.2           entropy:3.217
+2026-03-14 21:51:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.27     total_reward_ma:18.19  loss:-0.02499          fps:2.463e+04
+frame:3.02e+07         wall_t:1226            t:14747                epi:nan
+opt_step:58960         lr:0.0003              clip_eps:0.2           entropy:3.624
+2026-03-14 21:51:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.44     total_reward_ma:18.24  loss:-0.02581          fps:2.463e+04
+frame:3.03e+07         wall_t:1230            t:14795                epi:nan
+opt_step:59120         lr:0.0003              clip_eps:0.2           entropy:3.571
+2026-03-14 21:51:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.60     total_reward_ma:18.28  loss:-0.02441          fps:2.464e+04
+frame:3.04e+07         wall_t:1234            t:14844                epi:nan
+opt_step:59360         lr:0.0003              clip_eps:0.2           entropy:3.367
+2026-03-14 21:51:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.75     total_reward_ma:18.33  loss:-0.02446          fps:2.466e+04
+frame:3.05e+07         wall_t:1237            t:14893                epi:nan
+opt_step:59520         lr:0.0003              clip_eps:0.2           entropy:3.241
+2026-03-14 21:51:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.60     total_reward_ma:18.35  loss:-0.02375          fps:2.466e+04
+frame:3.06e+07         wall_t:1241            t:14942                epi:nan
+opt_step:59760         lr:0.0003              clip_eps:0.2           entropy:3.315
+2026-03-14 21:51:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.13     total_reward_ma:18.38  loss:-0.0256           fps:2.468e+04
+frame:3.07e+07         wall_t:1244            t:14991                epi:nan
+opt_step:59920         lr:0.0003              clip_eps:0.2           entropy:3.259
+2026-03-14 21:51:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.71     total_reward_ma:18.42  loss:-0.02466          fps:2.468e+04
+frame:3.08e+07         wall_t:1248            t:15040                epi:nan
+opt_step:60160         lr:0.0003              clip_eps:0.2           entropy:3.419
+2026-03-14 21:51:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:17.94     total_reward_ma:18.44  loss:-0.02437          fps:2.468e+04
+frame:3.09e+07         wall_t:1252            t:15088                epi:nan
+opt_step:60320         lr:0.0003              clip_eps:0.2           entropy:3.436
+2026-03-14 21:51:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.46     total_reward_ma:18.50  loss:-0.02491          fps:2.47e+04
+frame:3.10e+07         wall_t:1255            t:15137                epi:nan
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+2026-03-14 21:51:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.41     total_reward_ma:18.56  loss:-0.02344          fps:2.47e+04
+frame:3.11e+07         wall_t:1259            t:15186                epi:nan
+opt_step:60720         lr:0.0003              clip_eps:0.2           entropy:3.235
+2026-03-14 21:51:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.49     total_reward_ma:18.60  loss:-0.02379          fps:2.472e+04
+frame:3.12e+07         wall_t:1262            t:15235                epi:nan
+opt_step:60880         lr:0.0003              clip_eps:0.2           entropy:3.179
+2026-03-14 21:51:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.61     total_reward_ma:18.64  loss:-0.02401          fps:2.472e+04
+frame:3.13e+07         wall_t:1266            t:15284                epi:nan
+opt_step:61120         lr:0.0003              clip_eps:0.2           entropy:3.248
+2026-03-14 21:51:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.50     total_reward_ma:18.67  loss:-0.02584          fps:2.475e+04
+frame:3.14e+07         wall_t:1269            t:15333                epi:nan
+opt_step:61280         lr:0.0003              clip_eps:0.2           entropy:3.695
+2026-03-14 21:51:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.15     total_reward_ma:18.68  loss:-0.02398          fps:2.474e+04
+frame:3.15e+07         wall_t:1273            t:15381                epi:nan
+opt_step:61520         lr:0.0003              clip_eps:0.2           entropy:3.375
+2026-03-14 21:51:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.37     total_reward_ma:18.72  loss:-0.02557          fps:2.475e+04
+frame:3.16e+07         wall_t:1277            t:15430                epi:nan
+opt_step:61680         lr:0.0003              clip_eps:0.2           entropy:3.287
+2026-03-14 21:51:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:18.93     total_reward_ma:18.76  loss:-0.02531          fps:2.477e+04
+frame:3.17e+07         wall_t:1280            t:15479                epi:nan
+opt_step:61840         lr:0.0003              clip_eps:0.2           entropy:3.357
+2026-03-14 21:52:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.66     total_reward_ma:18.78  loss:-0.02427          fps:2.477e+04
+frame:3.18e+07         wall_t:1284            t:15528                epi:nan
+opt_step:62080         lr:0.0003              clip_eps:0.2           entropy:3.199
+2026-03-14 21:52:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.05     total_reward_ma:18.82  loss:-0.02519          fps:2.479e+04
+frame:3.19e+07         wall_t:1287            t:15577                epi:nan
+opt_step:62240         lr:0.0003              clip_eps:0.2           entropy:3.252
+2026-03-14 21:52:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.07     total_reward_ma:18.86  loss:-0.02362          fps:2.479e+04
+frame:3.20e+07         wall_t:1291            t:15625                epi:nan
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+2026-03-14 21:52:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.21e+07         wall_t:1294            t:15674                epi:nan
+opt_step:62640         lr:0.0003              clip_eps:0.2           entropy:3.128
+2026-03-14 21:52:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.22e+07         wall_t:1298            t:15723                epi:nan
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+2026-03-14 21:52:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.24e+07         wall_t:1306            t:15821                epi:nan
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+2026-03-14 21:52:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:52:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.33e+07         wall_t:1337            t:16260                epi:nan
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+2026-03-14 21:52:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:53:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.35e+07         wall_t:1344            t:16358                epi:nan
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+2026-03-14 21:53:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.36e+07         wall_t:1348            t:16407                epi:nan
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+2026-03-14 21:53:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.37e+07         wall_t:1351            t:16456                epi:nan
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+2026-03-14 21:53:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.38e+07         wall_t:1355            t:16504                epi:nan
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+2026-03-14 21:53:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.39e+07         wall_t:1358            t:16553                epi:nan
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+2026-03-14 21:53:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.40e+07         wall_t:1362            t:16602                epi:nan
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+2026-03-14 21:53:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.41e+07         wall_t:1365            t:16651                epi:nan
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+2026-03-14 21:53:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.42e+07         wall_t:1369            t:16700                epi:nan
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+2026-03-14 21:53:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.43e+07         wall_t:1373            t:16749                epi:nan
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+2026-03-14 21:53:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.44e+07         wall_t:1376            t:16797                epi:nan
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+2026-03-14 21:53:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.45e+07         wall_t:1380            t:16846                epi:nan
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+2026-03-14 21:53:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.46e+07         wall_t:1384            t:16895                epi:nan
+opt_step:67520         lr:0.0003              clip_eps:0.2           entropy:2.648
+2026-03-14 21:53:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.49     total_reward_ma:19.96  loss:-0.02111          fps:2.5e+04
+frame:3.47e+07         wall_t:1388            t:16944                epi:nan
+opt_step:67760         lr:0.0003              clip_eps:0.2           entropy:2.83
+2026-03-14 21:53:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.91     total_reward_ma:19.98  loss:-0.02415          fps:2.502e+04
+frame:3.48e+07         wall_t:1391            t:16993                epi:nan
+opt_step:67920         lr:0.0003              clip_eps:0.2           entropy:3.03
+2026-03-14 21:53:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.05     total_reward_ma:20.04  loss:-0.0212           fps:2.502e+04
+frame:3.49e+07         wall_t:1395            t:17042                epi:nan
+opt_step:68160         lr:0.0003              clip_eps:0.2           entropy:2.724
+2026-03-14 21:53:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.02     total_reward_ma:20.07  loss:-0.02266          fps:2.504e+04
+frame:3.50e+07         wall_t:1398            t:17090                epi:nan
+opt_step:68320         lr:0.0003              clip_eps:0.2           entropy:2.97
+2026-03-14 21:53:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.19     total_reward_ma:20.09  loss:-0.02279          fps:2.504e+04
+frame:3.51e+07         wall_t:1402            t:17139                epi:nan
+opt_step:68480         lr:0.0003              clip_eps:0.2           entropy:3.001
+2026-03-14 21:54:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.93     total_reward_ma:20.11  loss:-0.02172          fps:2.504e+04
+frame:3.52e+07         wall_t:1406            t:17188                epi:nan
+opt_step:68720         lr:0.0003              clip_eps:0.2           entropy:2.995
+2026-03-14 21:54:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:20.83     total_reward_ma:20.14  loss:-0.02363          fps:2.505e+04
+frame:3.53e+07         wall_t:1409            t:17237                epi:nan
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+2026-03-14 21:54:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.40     total_reward_ma:20.19  loss:-0.0211           fps:2.505e+04
+frame:3.54e+07         wall_t:1413            t:17286                epi:nan
+opt_step:69120         lr:0.0003              clip_eps:0.2           entropy:2.715
+2026-03-14 21:54:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.98     total_reward_ma:20.20  loss:-0.0235           fps:2.507e+04
+frame:3.55e+07         wall_t:1416            t:17334                epi:nan
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+2026-03-14 21:54:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.65     total_reward_ma:20.23  loss:-0.02481          fps:2.507e+04
+frame:3.56e+07         wall_t:1420            t:17383                epi:nan
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+2026-03-14 21:54:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.48     total_reward_ma:20.29  loss:-0.02232          fps:2.507e+04
+frame:3.57e+07         wall_t:1424            t:17432                epi:nan
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+2026-03-14 21:54:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.35     total_reward_ma:20.30  loss:-0.02135          fps:2.509e+04
+frame:3.58e+07         wall_t:1427            t:17481                epi:nan
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+2026-03-14 21:54:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.76     total_reward_ma:20.31  loss:-0.02098          fps:2.509e+04
+frame:3.59e+07         wall_t:1431            t:17530                epi:nan
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+2026-03-14 21:54:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.59     total_reward_ma:20.34  loss:-0.02249          fps:2.511e+04
+frame:3.60e+07         wall_t:1434            t:17579                epi:nan
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+2026-03-14 21:54:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:19.58     total_reward_ma:20.35  loss:-0.0254           fps:2.51e+04
+frame:3.61e+07         wall_t:1438            t:17627                epi:nan
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+2026-03-14 21:54:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.25     total_reward_ma:20.37  loss:-0.02404          fps:2.512e+04
+frame:3.62e+07         wall_t:1441            t:17676                epi:nan
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+2026-03-14 21:54:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.97     total_reward_ma:20.39  loss:-0.02305          fps:2.51e+04
+frame:3.63e+07         wall_t:1446            t:17725                epi:nan
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+2026-03-14 21:54:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.05     total_reward_ma:20.39  loss:-0.02313          fps:2.512e+04
+frame:3.64e+07         wall_t:1449            t:17774                epi:nan
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+2026-03-14 21:54:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.96     total_reward_ma:20.44  loss:-0.02055          fps:2.512e+04
+frame:3.65e+07         wall_t:1453            t:17823                epi:nan
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+2026-03-14 21:54:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.05     total_reward_ma:20.45  loss:-0.02272          fps:2.512e+04
+frame:3.66e+07         wall_t:1457            t:17872                epi:nan
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+2026-03-14 21:54:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.38     total_reward_ma:20.51  loss:-0.02328          fps:2.512e+04
+frame:3.67e+07         wall_t:1461            t:17920                epi:nan
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+2026-03-14 21:55:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.29     total_reward_ma:20.54  loss:-0.0228           fps:2.514e+04
+frame:3.68e+07         wall_t:1464            t:17969                epi:nan
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+2026-03-14 21:55:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.54     total_reward_ma:20.59  loss:-0.02269          fps:2.515e+04
+frame:3.69e+07         wall_t:1467            t:18018                epi:nan
+opt_step:72000         lr:0.0003              clip_eps:0.2           entropy:2.908
+2026-03-14 21:55:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.76     total_reward_ma:20.64  loss:-0.02343          fps:2.515e+04
+frame:3.70e+07         wall_t:1471            t:18067                epi:nan
+opt_step:72240         lr:0.0003              clip_eps:0.2           entropy:3.026
+2026-03-14 21:55:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.71e+07         wall_t:1475            t:18116                epi:nan
+opt_step:72400         lr:0.0003              clip_eps:0.2           entropy:2.881
+2026-03-14 21:55:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.72e+07         wall_t:1479            t:18165                epi:nan
+opt_step:72640         lr:0.0003              clip_eps:0.2           entropy:2.81
+2026-03-14 21:55:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.73e+07         wall_t:1482            t:18213                epi:nan
+opt_step:72800         lr:0.0003              clip_eps:0.2           entropy:2.572
+2026-03-14 21:55:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.74e+07         wall_t:1486            t:18262                epi:nan
+opt_step:73040         lr:0.0003              clip_eps:0.2           entropy:2.662
+2026-03-14 21:55:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.75e+07         wall_t:1489            t:18311                epi:nan
+opt_step:73200         lr:0.0003              clip_eps:0.2           entropy:2.422
+2026-03-14 21:55:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.76e+07         wall_t:1493            t:18360                epi:nan
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+2026-03-14 21:55:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.77e+07         wall_t:1497            t:18409                epi:nan
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+2026-03-14 21:55:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.78e+07         wall_t:1500            t:18458                epi:nan
+opt_step:73760         lr:0.0003              clip_eps:0.2           entropy:2.748
+2026-03-14 21:55:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.79e+07         wall_t:1504            t:18506                epi:nan
+opt_step:74000         lr:0.0003              clip_eps:0.2           entropy:2.647
+2026-03-14 21:55:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.80e+07         wall_t:1508            t:18555                epi:nan
+opt_step:74160         lr:0.0003              clip_eps:0.2           entropy:2.623
+2026-03-14 21:55:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.81e+07         wall_t:1511            t:18604                epi:nan
+opt_step:74400         lr:0.0003              clip_eps:0.2           entropy:2.534
+2026-03-14 21:55:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.82e+07         wall_t:1515            t:18653                epi:nan
+opt_step:74560         lr:0.0003              clip_eps:0.2           entropy:2.467
+2026-03-14 21:55:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.83e+07         wall_t:1519            t:18702                epi:nan
+opt_step:74800         lr:0.0003              clip_eps:0.2           entropy:2.399
+2026-03-14 21:55:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:3.84e+07         wall_t:1522            t:18750                epi:nan
+opt_step:74960         lr:0.0003              clip_eps:0.2           entropy:2.955
+2026-03-14 21:56:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.52     total_reward_ma:21.34  loss:-0.0183           fps:2.525e+04
+frame:3.85e+07         wall_t:1525            t:18799                epi:nan
+opt_step:75120         lr:0.0003              clip_eps:0.2           entropy:2.336
+2026-03-14 21:56:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.58     total_reward_ma:21.39  loss:-0.02042          fps:2.525e+04
+frame:3.86e+07         wall_t:1529            t:18848                epi:nan
+opt_step:75360         lr:0.0003              clip_eps:0.2           entropy:2.282
+2026-03-14 21:56:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.84     total_reward_ma:21.45  loss:-0.01984          fps:2.525e+04
+frame:3.87e+07         wall_t:1533            t:18897                epi:nan
+opt_step:75520         lr:0.0003              clip_eps:0.2           entropy:2.262
+2026-03-14 21:56:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.78     total_reward_ma:21.51  loss:-0.02062          fps:2.524e+04
+frame:3.88e+07         wall_t:1537            t:18946                epi:nan
+opt_step:75760         lr:0.0003              clip_eps:0.2           entropy:2.554
+2026-03-14 21:56:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.01     total_reward_ma:21.58  loss:-0.01975          fps:2.526e+04
+frame:3.89e+07         wall_t:1540            t:18995                epi:nan
+opt_step:75920         lr:0.0003              clip_eps:0.2           entropy:2.381
+2026-03-14 21:56:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.16     total_reward_ma:21.62  loss:-0.01931          fps:2.526e+04
+frame:3.90e+07         wall_t:1544            t:19043                epi:nan
+opt_step:76160         lr:0.0003              clip_eps:0.2           entropy:2.265
+2026-03-14 21:56:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.50     total_reward_ma:21.68  loss:-0.02133          fps:2.526e+04
+frame:3.91e+07         wall_t:1548            t:19092                epi:nan
+opt_step:76320         lr:0.0003              clip_eps:0.2           entropy:2.394
+2026-03-14 21:56:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.54     total_reward_ma:21.71  loss:-0.02013          fps:2.526e+04
+frame:3.92e+07         wall_t:1552            t:19141                epi:nan
+opt_step:76560         lr:0.0003              clip_eps:0.2           entropy:2.374
+2026-03-14 21:56:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.19     total_reward_ma:21.77  loss:-0.0191           fps:2.527e+04
+frame:3.93e+07         wall_t:1555            t:19190                epi:nan
+opt_step:76720         lr:0.0003              clip_eps:0.2           entropy:2.332
+2026-03-14 21:56:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.06     total_reward_ma:21.82  loss:-0.02089          fps:2.527e+04
+frame:3.94e+07         wall_t:1559            t:19239                epi:nan
+opt_step:76880         lr:0.0003              clip_eps:0.2           entropy:2.338
+2026-03-14 21:56:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.96     total_reward_ma:21.91  loss:-0.01865          fps:2.527e+04
+frame:3.95e+07         wall_t:1563            t:19288                epi:nan
+opt_step:77120         lr:0.0003              clip_eps:0.2           entropy:2.141
+2026-03-14 21:56:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.19     total_reward_ma:21.98  loss:-0.01817          fps:2.529e+04
+frame:3.96e+07         wall_t:1566            t:19336                epi:nan
+opt_step:77280         lr:0.0003              clip_eps:0.2           entropy:2.16
+2026-03-14 21:56:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.36     total_reward_ma:22.07  loss:-0.01895          fps:2.529e+04
+frame:3.97e+07         wall_t:1570            t:19385                epi:nan
+opt_step:77520         lr:0.0003              clip_eps:0.2           entropy:2.126
+2026-03-14 21:56:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.29     total_reward_ma:22.11  loss:-0.02026          fps:2.53e+04
+frame:3.98e+07         wall_t:1573            t:19434                epi:nan
+opt_step:77680         lr:0.0003              clip_eps:0.2           entropy:2.533
+2026-03-14 21:56:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.25     total_reward_ma:22.19  loss:-0.0184           fps:2.529e+04
+frame:3.99e+07         wall_t:1578            t:19483                epi:nan
+opt_step:77920         lr:0.0003              clip_eps:0.2           entropy:2.103
+2026-03-14 21:56:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.61     total_reward_ma:22.25  loss:-0.02074          fps:2.53e+04
+frame:4.00e+07         wall_t:1581            t:19532                epi:nan
+opt_step:78080         lr:0.0003              clip_eps:0.2           entropy:2.175
+2026-03-14 21:57:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.57     total_reward_ma:22.31  loss:-0.01968          fps:2.53e+04
+frame:4.01e+07         wall_t:1585            t:19581                epi:nan
+opt_step:78320         lr:0.0003              clip_eps:0.2           entropy:2.142
+2026-03-14 21:57:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.02     total_reward_ma:22.40  loss:-0.0186           fps:2.531e+04
+frame:4.02e+07         wall_t:1588            t:19629                epi:nan
+opt_step:78480         lr:0.0003              clip_eps:0.2           entropy:2.246
+2026-03-14 21:57:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.69     total_reward_ma:22.47  loss:-0.01726          fps:2.533e+04
+frame:4.03e+07         wall_t:1591            t:19678                epi:nan
+opt_step:78640         lr:0.0003              clip_eps:0.2           entropy:2.132
+2026-03-14 21:57:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.85     total_reward_ma:22.51  loss:-0.01879          fps:2.533e+04
+frame:4.04e+07         wall_t:1595            t:19727                epi:nan
+opt_step:78880         lr:0.0003              clip_eps:0.2           entropy:2.107
+2026-03-14 21:57:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.02     total_reward_ma:22.58  loss:-0.01827          fps:2.533e+04
+frame:4.05e+07         wall_t:1599            t:19776                epi:nan
+opt_step:79040         lr:0.0003              clip_eps:0.2           entropy:2.142
+2026-03-14 21:57:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.62     total_reward_ma:22.66  loss:-0.0204           fps:2.533e+04
+frame:4.06e+07         wall_t:1603            t:19825                epi:nan
+opt_step:79280         lr:0.0003              clip_eps:0.2           entropy:2.138
+2026-03-14 21:57:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.54     total_reward_ma:22.73  loss:-0.0187           fps:2.534e+04
+frame:4.07e+07         wall_t:1606            t:19874                epi:nan
+opt_step:79440         lr:0.0003              clip_eps:0.2           entropy:2.154
+2026-03-14 21:57:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.35     total_reward_ma:22.81  loss:-0.01997          fps:2.536e+04
+frame:4.08e+07         wall_t:1609            t:19922                epi:nan
+opt_step:79680         lr:0.0003              clip_eps:0.2           entropy:2.213
+2026-03-14 21:57:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.44     total_reward_ma:22.90  loss:-0.01868          fps:2.536e+04
+frame:4.09e+07         wall_t:1613            t:19971                epi:nan
+opt_step:79840         lr:0.0003              clip_eps:0.2           entropy:2.129
+2026-03-14 21:57:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.97     total_reward_ma:22.97  loss:-0.01802          fps:2.536e+04
+frame:4.10e+07         wall_t:1617            t:20020                epi:nan
+opt_step:80080         lr:0.0003              clip_eps:0.2           entropy:2.144
+2026-03-14 21:57:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.88     total_reward_ma:23.01  loss:-0.018            fps:2.537e+04
+frame:4.11e+07         wall_t:1620            t:20069                epi:nan
+opt_step:80240         lr:0.0003              clip_eps:0.2           entropy:2.081
+2026-03-14 21:57:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.83     total_reward_ma:23.06  loss:-0.01803          fps:2.539e+04
+frame:4.12e+07         wall_t:1623            t:20118                epi:nan
+opt_step:80400         lr:0.0003              clip_eps:0.2           entropy:2.174
+2026-03-14 21:57:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.69     total_reward_ma:23.13  loss:-0.01696          fps:2.539e+04
+frame:4.13e+07         wall_t:1627            t:20167                epi:nan
+opt_step:80640         lr:0.0003              clip_eps:0.2           entropy:1.917
+2026-03-14 21:57:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.78     total_reward_ma:23.19  loss:-0.01779          fps:2.538e+04
+frame:4.14e+07         wall_t:1631            t:20215                epi:nan
+opt_step:80800         lr:0.0003              clip_eps:0.2           entropy:2.299
+2026-03-14 21:57:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.58     total_reward_ma:23.26  loss:-0.02138          fps:2.538e+04
+frame:4.15e+07         wall_t:1635            t:20264                epi:nan
+opt_step:81040         lr:0.0003              clip_eps:0.2           entropy:2.37
+2026-03-14 21:57:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.14     total_reward_ma:23.32  loss:-0.01722          fps:2.54e+04
+frame:4.16e+07         wall_t:1638            t:20313                epi:nan
+opt_step:81200         lr:0.0003              clip_eps:0.2           entropy:2.168
+2026-03-14 21:57:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.04     total_reward_ma:23.38  loss:-0.01876          fps:2.54e+04
+frame:4.17e+07         wall_t:1642            t:20362                epi:nan
+opt_step:81440         lr:0.0003              clip_eps:0.2           entropy:2.327
+2026-03-14 21:58:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.60     total_reward_ma:23.44  loss:-0.01849          fps:2.54e+04
+frame:4.18e+07         wall_t:1646            t:20411                epi:nan
+opt_step:81600         lr:0.0003              clip_eps:0.2           entropy:2.122
+2026-03-14 21:58:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.05     total_reward_ma:23.51  loss:-0.01884          fps:2.541e+04
+frame:4.19e+07         wall_t:1649            t:20459                epi:nan
+opt_step:81760         lr:0.0003              clip_eps:0.2           entropy:2.254
+2026-03-14 21:58:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.20e+07         wall_t:1653            t:20508                epi:nan
+opt_step:82000         lr:0.0003              clip_eps:0.2           entropy:2.279
+2026-03-14 21:58:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.21e+07         wall_t:1656            t:20557                epi:nan
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+2026-03-14 21:58:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.22e+07         wall_t:1660            t:20606                epi:nan
+opt_step:82400         lr:0.0003              clip_eps:0.2           entropy:2.132
+2026-03-14 21:58:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.23e+07         wall_t:1663            t:20655                epi:nan
+opt_step:82560         lr:0.0003              clip_eps:0.2           entropy:2.116
+2026-03-14 21:58:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.24e+07         wall_t:1668            t:20704                epi:nan
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+2026-03-14 21:58:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 21:58:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.26e+07         wall_t:1675            t:20801                epi:nan
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+2026-03-14 21:58:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.27e+07         wall_t:1678            t:20850                epi:nan
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+2026-03-14 21:58:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.28e+07         wall_t:1682            t:20899                epi:nan
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+2026-03-14 21:58:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.29e+07         wall_t:1685            t:20948                epi:nan
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+2026-03-14 21:58:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.30e+07         wall_t:1689            t:20997                epi:nan
+opt_step:83920         lr:0.0003              clip_eps:0.2           entropy:2.215
+2026-03-14 21:58:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.31e+07         wall_t:1693            t:21045                epi:nan
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+2026-03-14 21:58:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.32e+07         wall_t:1696            t:21094                epi:nan
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+2026-03-14 21:58:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.33e+07         wall_t:1700            t:21143                epi:nan
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+2026-03-14 21:59:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.34e+07         wall_t:1703            t:21192                epi:nan
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+2026-03-14 21:59:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.35e+07         wall_t:1708            t:21241                epi:nan
+opt_step:84960         lr:0.0003              clip_eps:0.2           entropy:2.398
+2026-03-14 21:59:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.36e+07         wall_t:1711            t:21290                epi:nan
+opt_step:85120         lr:0.0003              clip_eps:0.2           entropy:2.156
+2026-03-14 21:59:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.37e+07         wall_t:1714            t:21338                epi:nan
+opt_step:85280         lr:0.0003              clip_eps:0.2           entropy:2.308
+2026-03-14 21:59:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.38e+07         wall_t:1717            t:21387                epi:nan
+opt_step:85520         lr:0.0003              clip_eps:0.2           entropy:2.362
+2026-03-14 21:59:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.39e+07         wall_t:1721            t:21436                epi:nan
+opt_step:85680         lr:0.0003              clip_eps:0.2           entropy:2.502
+2026-03-14 21:59:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.40     total_reward_ma:24.33  loss:-0.01813          fps:2.551e+04
+frame:4.40e+07         wall_t:1725            t:21485                epi:nan
+opt_step:85920         lr:0.0003              clip_eps:0.2           entropy:2.545
+2026-03-14 21:59:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.37     total_reward_ma:24.34  loss:-0.01779          fps:2.552e+04
+frame:4.41e+07         wall_t:1728            t:21534                epi:nan
+opt_step:86080         lr:0.0003              clip_eps:0.2           entropy:2.139
+2026-03-14 21:59:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.36     total_reward_ma:24.38  loss:-0.01937          fps:2.552e+04
+frame:4.42e+07         wall_t:1732            t:21583                epi:nan
+opt_step:86320         lr:0.0003              clip_eps:0.2           entropy:2.087
+2026-03-14 21:59:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.53     total_reward_ma:24.41  loss:-0.01944          fps:2.552e+04
+frame:4.43e+07         wall_t:1736            t:21631                epi:nan
+opt_step:86480         lr:0.0003              clip_eps:0.2           entropy:2.279
+2026-03-14 21:59:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.74     total_reward_ma:24.44  loss:-0.01935          fps:2.553e+04
+frame:4.44e+07         wall_t:1739            t:21680                epi:nan
+opt_step:86720         lr:0.0003              clip_eps:0.2           entropy:2.185
+2026-03-14 21:59:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.41     total_reward_ma:24.48  loss:-0.01927          fps:2.553e+04
+frame:4.45e+07         wall_t:1743            t:21729                epi:nan
+opt_step:86880         lr:0.0003              clip_eps:0.2           entropy:2.166
+2026-03-14 21:59:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.93     total_reward_ma:24.53  loss:-0.01859          fps:2.554e+04
+frame:4.46e+07         wall_t:1746            t:21778                epi:nan
+opt_step:87040         lr:0.0003              clip_eps:0.2           entropy:2.142
+2026-03-14 21:59:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.57     total_reward_ma:24.56  loss:-0.01907          fps:2.554e+04
+frame:4.47e+07         wall_t:1750            t:21827                epi:nan
+opt_step:87280         lr:0.0003              clip_eps:0.2           entropy:2.006
+2026-03-14 21:59:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.06     total_reward_ma:24.56  loss:-0.02035          fps:2.556e+04
+frame:4.48e+07         wall_t:1753            t:21875                epi:nan
+opt_step:87440         lr:0.0003              clip_eps:0.2           entropy:2.338
+2026-03-14 21:59:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.16     total_reward_ma:24.59  loss:-0.01887          fps:2.554e+04
+frame:4.49e+07         wall_t:1758            t:21924                epi:nan
+opt_step:87680         lr:0.0003              clip_eps:0.2           entropy:2.232
+2026-03-14 21:59:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.31     total_reward_ma:24.63  loss:-0.01876          fps:2.555e+04
+frame:4.50e+07         wall_t:1761            t:21973                epi:nan
+opt_step:87840         lr:0.0003              clip_eps:0.2           entropy:2.11
+2026-03-14 22:00:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.56     total_reward_ma:24.71  loss:-0.01967          fps:2.555e+04
+frame:4.51e+07         wall_t:1765            t:22022                epi:nan
+opt_step:88080         lr:0.0003              clip_eps:0.2           entropy:2.164
+2026-03-14 22:00:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.36     total_reward_ma:24.76  loss:-0.01721          fps:2.557e+04
+frame:4.52e+07         wall_t:1768            t:22071                epi:nan
+opt_step:88240         lr:0.0003              clip_eps:0.2           entropy:1.948
+2026-03-14 22:00:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.99     total_reward_ma:24.82  loss:-0.01968          fps:2.555e+04
+frame:4.53e+07         wall_t:1773            t:22120                epi:nan
+opt_step:88480         lr:0.0003              clip_eps:0.2           entropy:2.046
+2026-03-14 22:00:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.73     total_reward_ma:24.84  loss:-0.01757          fps:2.556e+04
+frame:4.54e+07         wall_t:1776            t:22168                epi:nan
+opt_step:88640         lr:0.0003              clip_eps:0.2           entropy:1.797
+2026-03-14 22:00:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.58     total_reward_ma:24.87  loss:-0.01856          fps:2.558e+04
+frame:4.55e+07         wall_t:1779            t:22217                epi:nan
+opt_step:88800         lr:0.0003              clip_eps:0.2           entropy:1.998
+2026-03-14 22:00:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.42     total_reward_ma:24.91  loss:-0.0172           fps:2.558e+04
+frame:4.56e+07         wall_t:1783            t:22266                epi:nan
+opt_step:89040         lr:0.0003              clip_eps:0.2           entropy:1.944
+2026-03-14 22:00:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.59     total_reward_ma:24.93  loss:-0.01866          fps:2.557e+04
+frame:4.57e+07         wall_t:1787            t:22315                epi:nan
+opt_step:89200         lr:0.0003              clip_eps:0.2           entropy:1.976
+2026-03-14 22:00:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.95     total_reward_ma:24.98  loss:-0.01835          fps:2.557e+04
+frame:4.58e+07         wall_t:1791            t:22364                epi:nan
+opt_step:89440         lr:0.0003              clip_eps:0.2           entropy:1.97
+2026-03-14 22:00:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.40     total_reward_ma:25.03  loss:-0.01781          fps:2.559e+04
+frame:4.59e+07         wall_t:1794            t:22413                epi:nan
+opt_step:89600         lr:0.0003              clip_eps:0.2           entropy:1.982
+2026-03-14 22:00:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.02     total_reward_ma:25.08  loss:-0.01862          fps:2.558e+04
+frame:4.60e+07         wall_t:1798            t:22461                epi:nan
+opt_step:89840         lr:0.0003              clip_eps:0.2           entropy:2.179
+2026-03-14 22:00:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.93     total_reward_ma:25.15  loss:-0.01576          fps:2.56e+04
+frame:4.61e+07         wall_t:1801            t:22510                epi:nan
+opt_step:90000         lr:0.0003              clip_eps:0.2           entropy:2.065
+2026-03-14 22:00:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.00     total_reward_ma:25.17  loss:-0.02129          fps:2.56e+04
+frame:4.62e+07         wall_t:1805            t:22559                epi:nan
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+2026-03-14 22:00:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:21.72     total_reward_ma:25.16  loss:-0.02072          fps:2.559e+04
+frame:4.63e+07         wall_t:1809            t:22608                epi:nan
+opt_step:90400         lr:0.0003              clip_eps:0.2           entropy:2.281
+2026-03-14 22:00:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.62     total_reward_ma:25.16  loss:-0.01898          fps:2.561e+04
+frame:4.64e+07         wall_t:1812            t:22657                epi:nan
+opt_step:90560         lr:0.0003              clip_eps:0.2           entropy:2.291
+2026-03-14 22:00:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.22     total_reward_ma:25.16  loss:-0.01813          fps:2.561e+04
+frame:4.65e+07         wall_t:1816            t:22706                epi:nan
+opt_step:90800         lr:0.0003              clip_eps:0.2           entropy:2.28
+2026-03-14 22:00:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.01     total_reward_ma:25.17  loss:-0.01846          fps:2.562e+04
+frame:4.66e+07         wall_t:1819            t:22754                epi:nan
+opt_step:90960         lr:0.0003              clip_eps:0.2           entropy:1.972
+2026-03-14 22:01:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.54     total_reward_ma:25.18  loss:-0.01826          fps:2.56e+04
+frame:4.67e+07         wall_t:1824            t:22803                epi:nan
+opt_step:91200         lr:0.0003              clip_eps:0.2           entropy:2.157
+2026-03-14 22:01:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:22.82     total_reward_ma:25.18  loss:-0.02118          fps:2.562e+04
+frame:4.68e+07         wall_t:1827            t:22852                epi:nan
+opt_step:91360         lr:0.0003              clip_eps:0.2           entropy:2.015
+2026-03-14 22:01:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.69e+07         wall_t:1831            t:22901                epi:nan
+opt_step:91600         lr:0.0003              clip_eps:0.2           entropy:2.193
+2026-03-14 22:01:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:01:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.80e+07         wall_t:1870            t:23438                epi:nan
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+2026-03-14 22:01:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.81e+07         wall_t:1874            t:23487                epi:nan
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+2026-03-14 22:01:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.82e+07         wall_t:1877            t:23536                epi:nan
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+2026-03-14 22:01:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.83e+07         wall_t:1881            t:23584                epi:nan
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+2026-03-14 22:02:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.84e+07         wall_t:1885            t:23633                epi:nan
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+2026-03-14 22:02:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.85e+07         wall_t:1889            t:23682                epi:nan
+opt_step:94720         lr:0.0003              clip_eps:0.2           entropy:2.129
+2026-03-14 22:02:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.86e+07         wall_t:1892            t:23731                epi:nan
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+2026-03-14 22:02:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:4.87e+07         wall_t:1896            t:23780                epi:nan
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+2026-03-14 22:02:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.87     total_reward_ma:25.34  loss:-0.01604          fps:2.57e+04
+frame:4.88e+07         wall_t:1899            t:23829                epi:nan
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+2026-03-14 22:02:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.07     total_reward_ma:25.36  loss:-0.01664          fps:2.57e+04
+frame:4.89e+07         wall_t:1903            t:23877                epi:nan
+opt_step:95440         lr:0.0003              clip_eps:0.2           entropy:1.913
+2026-03-14 22:02:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.73     total_reward_ma:25.36  loss:-0.01773          fps:2.571e+04
+frame:4.90e+07         wall_t:1906            t:23926                epi:nan
+opt_step:95680         lr:0.0003              clip_eps:0.2           entropy:2.03
+2026-03-14 22:02:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.93     total_reward_ma:25.33  loss:-0.01925          fps:2.571e+04
+frame:4.91e+07         wall_t:1910            t:23975                epi:nan
+opt_step:95840         lr:0.0003              clip_eps:0.2           entropy:1.938
+2026-03-14 22:02:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.64     total_reward_ma:25.35  loss:-0.0179           fps:2.571e+04
+frame:4.92e+07         wall_t:1914            t:24024                epi:nan
+opt_step:96080         lr:0.0003              clip_eps:0.2           entropy:1.994
+2026-03-14 22:02:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.50     total_reward_ma:25.34  loss:-0.0166           fps:2.572e+04
+frame:4.93e+07         wall_t:1917            t:24073                epi:nan
+opt_step:96240         lr:0.0003              clip_eps:0.2           entropy:1.746
+2026-03-14 22:02:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:23.78     total_reward_ma:25.32  loss:-0.01856          fps:2.572e+04
+frame:4.94e+07         wall_t:1921            t:24122                epi:nan
+opt_step:96480         lr:0.0003              clip_eps:0.2           entropy:2.273
+2026-03-14 22:02:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.48     total_reward_ma:25.30  loss:-0.018            fps:2.573e+04
+frame:4.95e+07         wall_t:1924            t:24170                epi:nan
+opt_step:96640         lr:0.0003              clip_eps:0.2           entropy:1.937
+2026-03-14 22:02:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.05     total_reward_ma:25.30  loss:-0.01905          fps:2.573e+04
+frame:4.96e+07         wall_t:1928            t:24219                epi:nan
+opt_step:96800         lr:0.0003              clip_eps:0.2           entropy:2.402
+2026-03-14 22:02:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.63     total_reward_ma:25.28  loss:-0.01689          fps:2.573e+04
+frame:4.97e+07         wall_t:1932            t:24268                epi:nan
+opt_step:97040         lr:0.0003              clip_eps:0.2           entropy:1.895
+2026-03-14 22:02:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.85     total_reward_ma:25.30  loss:-0.01793          fps:2.574e+04
+frame:4.98e+07         wall_t:1935            t:24317                epi:nan
+opt_step:97200         lr:0.0003              clip_eps:0.2           entropy:2.071
+2026-03-14 22:02:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.66     total_reward_ma:25.27  loss:-0.01841          fps:2.574e+04
+frame:4.99e+07         wall_t:1939            t:24366                epi:nan
+opt_step:97440         lr:0.0003              clip_eps:0.2           entropy:2.033
+2026-03-14 22:02:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.63     total_reward_ma:25.26  loss:-0.01722          fps:2.575e+04
+frame:5.00e+07         wall_t:1942            t:24415                epi:nan
+opt_step:97600         lr:0.0003              clip_eps:0.2           entropy:2.111
+2026-03-14 22:03:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.41     total_reward_ma:25.25  loss:-0.01992          fps:2.575e+04
+frame:5.01e+07         wall_t:1946            t:24463                epi:nan
+opt_step:97840         lr:0.0003              clip_eps:0.2           entropy:2.307
+2026-03-14 22:03:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.30     total_reward_ma:25.25  loss:-0.01865          fps:2.574e+04
+frame:5.02e+07         wall_t:1950            t:24512                epi:nan
+opt_step:98000         lr:0.0003              clip_eps:0.2           entropy:2.032
+2026-03-14 22:03:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.11     total_reward_ma:25.25  loss:-0.01842          fps:2.574e+04
+frame:5.03e+07         wall_t:1954            t:24561                epi:nan
+opt_step:98240         lr:0.0003              clip_eps:0.2           entropy:2.02
+2026-03-14 22:03:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.98     total_reward_ma:25.26  loss:-0.01962          fps:2.575e+04
+frame:5.04e+07         wall_t:1957            t:24610                epi:nan
+opt_step:98400         lr:0.0003              clip_eps:0.2           entropy:2.219
+2026-03-14 22:03:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.10     total_reward_ma:25.28  loss:-0.01869          fps:2.577e+04
+frame:5.05e+07         wall_t:1960            t:24659                epi:nan
+opt_step:98560         lr:0.0003              clip_eps:0.2           entropy:1.922
+2026-03-14 22:03:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.04     total_reward_ma:25.26  loss:-0.01816          fps:2.576e+04
+frame:5.06e+07         wall_t:1964            t:24708                epi:nan
+opt_step:98800         lr:0.0003              clip_eps:0.2           entropy:2.134
+2026-03-14 22:03:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.46     total_reward_ma:25.26  loss:-0.01973          fps:2.576e+04
+frame:5.07e+07         wall_t:1968            t:24756                epi:nan
+opt_step:98960         lr:0.0003              clip_eps:0.2           entropy:1.885
+2026-03-14 22:03:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.17     total_reward_ma:25.26  loss:-0.01842          fps:2.576e+04
+frame:5.08e+07         wall_t:1972            t:24805                epi:nan
+opt_step:99200         lr:0.0003              clip_eps:0.2           entropy:1.88
+2026-03-14 22:03:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.22     total_reward_ma:25.27  loss:-0.01651          fps:2.577e+04
+frame:5.09e+07         wall_t:1975            t:24854                epi:nan
+opt_step:99360         lr:0.0003              clip_eps:0.2           entropy:1.675
+2026-03-14 22:03:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.81     total_reward_ma:25.26  loss:-0.01635          fps:2.577e+04
+frame:5.10e+07         wall_t:1979            t:24903                epi:nan
+opt_step:99600         lr:0.0003              clip_eps:0.2           entropy:1.774
+2026-03-14 22:03:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.75     total_reward_ma:25.29  loss:-0.01738          fps:2.578e+04
+frame:5.11e+07         wall_t:1982            t:24952                epi:nan
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+2026-03-14 22:03:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.79     total_reward_ma:25.30  loss:-0.01784          fps:2.578e+04
+frame:5.12e+07         wall_t:1986            t:25000                epi:nan
+opt_step:100000        lr:0.0003              clip_eps:0.2           entropy:1.639
+2026-03-14 22:03:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.38     total_reward_ma:25.28  loss:-0.01811          fps:2.578e+04
+frame:5.13e+07         wall_t:1990            t:25049                epi:nan
+opt_step:100160        lr:0.0003              clip_eps:0.2           entropy:1.835
+2026-03-14 22:03:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.12     total_reward_ma:25.31  loss:-0.01709          fps:2.579e+04
+frame:5.14e+07         wall_t:1993            t:25098                epi:nan
+opt_step:100320        lr:0.0003              clip_eps:0.2           entropy:1.616
+2026-03-14 22:03:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.05     total_reward_ma:25.33  loss:-0.01488          fps:2.579e+04
+frame:5.15e+07         wall_t:1997            t:25147                epi:nan
+opt_step:100560        lr:0.0003              clip_eps:0.2           entropy:1.621
+2026-03-14 22:03:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.52     total_reward_ma:25.33  loss:-0.01574          fps:2.58e+04
+frame:5.16e+07         wall_t:2000            t:25196                epi:nan
+opt_step:100720        lr:0.0003              clip_eps:0.2           entropy:1.557
+2026-03-14 22:04:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.94     total_reward_ma:25.36  loss:-0.01753          fps:2.58e+04
+frame:5.17e+07         wall_t:2004            t:25245                epi:nan
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+2026-03-14 22:04:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.90     total_reward_ma:25.38  loss:-0.01664          fps:2.581e+04
+frame:5.18e+07         wall_t:2007            t:25293                epi:nan
+opt_step:101120        lr:0.0003              clip_eps:0.2           entropy:1.721
+2026-03-14 22:04:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.19e+07         wall_t:2011            t:25342                epi:nan
+opt_step:101360        lr:0.0003              clip_eps:0.2           entropy:1.759
+2026-03-14 22:04:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:04:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:04:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:04:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:04:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:04:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:04:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:04:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.27e+07         wall_t:2039            t:25733                epi:nan
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+2026-03-14 22:04:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.28e+07         wall_t:2043            t:25782                epi:nan
+opt_step:103120        lr:0.0003              clip_eps:0.2           entropy:1.672
+2026-03-14 22:04:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.29e+07         wall_t:2046            t:25831                epi:nan
+opt_step:103280        lr:0.0003              clip_eps:0.2           entropy:1.618
+2026-03-14 22:04:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.30e+07         wall_t:2050            t:25879                epi:nan
+opt_step:103440        lr:0.0003              clip_eps:0.2           entropy:1.77
+2026-03-14 22:04:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.31e+07         wall_t:2053            t:25928                epi:nan
+opt_step:103680        lr:0.0003              clip_eps:0.2           entropy:1.627
+2026-03-14 22:04:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.32e+07         wall_t:2057            t:25977                epi:nan
+opt_step:103840        lr:0.0003              clip_eps:0.2           entropy:1.639
+2026-03-14 22:04:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:24.66     total_reward_ma:25.59  loss:-0.01753          fps:2.587e+04
+frame:5.33e+07         wall_t:2060            t:26026                epi:nan
+opt_step:104080        lr:0.0003              clip_eps:0.2           entropy:1.708
+2026-03-14 22:05:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.72     total_reward_ma:25.61  loss:-0.01678          fps:2.587e+04
+frame:5.34e+07         wall_t:2064            t:26075                epi:nan
+opt_step:104240        lr:0.0003              clip_eps:0.2           entropy:1.573
+2026-03-14 22:05:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.75     total_reward_ma:25.62  loss:-0.01601          fps:2.587e+04
+frame:5.35e+07         wall_t:2068            t:26124                epi:nan
+opt_step:104480        lr:0.0003              clip_eps:0.2           entropy:1.622
+2026-03-14 22:05:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.15     total_reward_ma:25.64  loss:-0.01767          fps:2.588e+04
+frame:5.36e+07         wall_t:2071            t:26172                epi:nan
+opt_step:104640        lr:0.0003              clip_eps:0.2           entropy:1.803
+2026-03-14 22:05:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.20     total_reward_ma:25.67  loss:-0.01784          fps:2.588e+04
+frame:5.37e+07         wall_t:2075            t:26221                epi:nan
+opt_step:104880        lr:0.0003              clip_eps:0.2           entropy:1.763
+2026-03-14 22:05:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.39     total_reward_ma:25.68  loss:-0.01823          fps:2.589e+04
+frame:5.38e+07         wall_t:2078            t:26270                epi:nan
+opt_step:105040        lr:0.0003              clip_eps:0.2           entropy:1.584
+2026-03-14 22:05:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.40     total_reward_ma:25.72  loss:-0.01815          fps:2.59e+04
+frame:5.39e+07         wall_t:2081            t:26319                epi:nan
+opt_step:105200        lr:0.0003              clip_eps:0.2           entropy:1.757
+2026-03-14 22:05:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.84     total_reward_ma:25.76  loss:-0.01687          fps:2.59e+04
+frame:5.40e+07         wall_t:2085            t:26368                epi:nan
+opt_step:105440        lr:0.0003              clip_eps:0.2           entropy:1.469
+2026-03-14 22:05:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.45     total_reward_ma:25.80  loss:-0.01567          fps:2.591e+04
+frame:5.41e+07         wall_t:2088            t:26417                epi:nan
+opt_step:105600        lr:0.0003              clip_eps:0.2           entropy:1.332
+2026-03-14 22:05:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.50     total_reward_ma:25.80  loss:-0.01778          fps:2.591e+04
+frame:5.42e+07         wall_t:2092            t:26465                epi:nan
+opt_step:105840        lr:0.0003              clip_eps:0.2           entropy:1.426
+2026-03-14 22:05:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.38     total_reward_ma:25.85  loss:-0.01614          fps:2.591e+04
+frame:5.43e+07         wall_t:2096            t:26514                epi:nan
+opt_step:106000        lr:0.0003              clip_eps:0.2           entropy:1.383
+2026-03-14 22:05:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.07     total_reward_ma:25.86  loss:-0.0125           fps:2.591e+04
+frame:5.44e+07         wall_t:2100            t:26563                epi:nan
+opt_step:106240        lr:0.0003              clip_eps:0.2           entropy:1.392
+2026-03-14 22:05:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.43     total_reward_ma:25.89  loss:-0.0147           fps:2.592e+04
+frame:5.45e+07         wall_t:2103            t:26612                epi:nan
+opt_step:106400        lr:0.0003              clip_eps:0.2           entropy:1.419
+2026-03-14 22:05:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.05     total_reward_ma:25.90  loss:-0.0153           fps:2.591e+04
+frame:5.46e+07         wall_t:2107            t:26661                epi:nan
+opt_step:106640        lr:0.0003              clip_eps:0.2           entropy:1.228
+2026-03-14 22:05:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.22     total_reward_ma:25.92  loss:-0.01479          fps:2.591e+04
+frame:5.47e+07         wall_t:2111            t:26709                epi:nan
+opt_step:106800        lr:0.0003              clip_eps:0.2           entropy:1.297
+2026-03-14 22:05:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.00     total_reward_ma:25.97  loss:-0.01516          fps:2.592e+04
+frame:5.48e+07         wall_t:2114            t:26758                epi:nan
+opt_step:106960        lr:0.0003              clip_eps:0.2           entropy:1.312
+2026-03-14 22:05:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.74     total_reward_ma:25.99  loss:-0.01471          fps:2.592e+04
+frame:5.49e+07         wall_t:2118            t:26807                epi:nan
+opt_step:107200        lr:0.0003              clip_eps:0.2           entropy:1.456
+2026-03-14 22:05:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.55     total_reward_ma:26.00  loss:-0.0157           fps:2.593e+04
+frame:5.50e+07         wall_t:2121            t:26856                epi:nan
+opt_step:107360        lr:0.0003              clip_eps:0.2           entropy:1.315
+2026-03-14 22:06:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.51     total_reward_ma:26.01  loss:-0.01689          fps:2.593e+04
+frame:5.51e+07         wall_t:2125            t:26905                epi:nan
+opt_step:107600        lr:0.0003              clip_eps:0.2           entropy:1.617
+2026-03-14 22:06:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.00     total_reward_ma:26.04  loss:-0.01509          fps:2.594e+04
+frame:5.52e+07         wall_t:2128            t:26954                epi:nan
+opt_step:107760        lr:0.0003              clip_eps:0.2           entropy:1.415
+2026-03-14 22:06:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.95     total_reward_ma:26.06  loss:-0.01781          fps:2.594e+04
+frame:5.53e+07         wall_t:2132            t:27002                epi:nan
+opt_step:108000        lr:0.0003              clip_eps:0.2           entropy:1.335
+2026-03-14 22:06:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.36     total_reward_ma:26.12  loss:-0.01489          fps:2.594e+04
+frame:5.54e+07         wall_t:2136            t:27051                epi:nan
+opt_step:108160        lr:0.0003              clip_eps:0.2           entropy:1.226
+2026-03-14 22:06:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.70     total_reward_ma:26.15  loss:-0.01518          fps:2.593e+04
+frame:5.55e+07         wall_t:2140            t:27100                epi:nan
+opt_step:108400        lr:0.0003              clip_eps:0.2           entropy:1.486
+2026-03-14 22:06:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.71     total_reward_ma:26.17  loss:-0.01552          fps:2.593e+04
+frame:5.56e+07         wall_t:2144            t:27149                epi:nan
+opt_step:108560        lr:0.0003              clip_eps:0.2           entropy:1.359
+2026-03-14 22:06:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.71     total_reward_ma:26.19  loss:-0.01552          fps:2.594e+04
+frame:5.57e+07         wall_t:2147            t:27198                epi:nan
+opt_step:108720        lr:0.0003              clip_eps:0.2           entropy:1.44
+2026-03-14 22:06:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.76     total_reward_ma:26.22  loss:-0.01453          fps:2.594e+04
+frame:5.58e+07         wall_t:2151            t:27247                epi:nan
+opt_step:108960        lr:0.0003              clip_eps:0.2           entropy:1.504
+2026-03-14 22:06:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.07     total_reward_ma:26.24  loss:-0.0147           fps:2.595e+04
+frame:5.59e+07         wall_t:2154            t:27295                epi:nan
+opt_step:109120        lr:0.0003              clip_eps:0.2           entropy:1.367
+2026-03-14 22:06:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.11     total_reward_ma:26.26  loss:-0.01482          fps:2.595e+04
+frame:5.60e+07         wall_t:2158            t:27344                epi:nan
+opt_step:109360        lr:0.0003              clip_eps:0.2           entropy:1.266
+2026-03-14 22:06:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.15     total_reward_ma:26.27  loss:-0.01644          fps:2.596e+04
+frame:5.61e+07         wall_t:2161            t:27393                epi:nan
+opt_step:109520        lr:0.0003              clip_eps:0.2           entropy:1.303
+2026-03-14 22:06:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.58     total_reward_ma:26.32  loss:-0.01478          fps:2.596e+04
+frame:5.62e+07         wall_t:2165            t:27442                epi:nan
+opt_step:109760        lr:0.0003              clip_eps:0.2           entropy:1.213
+2026-03-14 22:06:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.57     total_reward_ma:26.38  loss:-0.01442          fps:2.596e+04
+frame:5.63e+07         wall_t:2169            t:27491                epi:nan
+opt_step:109920        lr:0.0003              clip_eps:0.2           entropy:1.325
+2026-03-14 22:06:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.13     total_reward_ma:26.44  loss:-0.01484          fps:2.596e+04
+frame:5.64e+07         wall_t:2173            t:27540                epi:nan
+opt_step:110160        lr:0.0003              clip_eps:0.2           entropy:1.251
+2026-03-14 22:06:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.02     total_reward_ma:26.49  loss:-0.01603          fps:2.597e+04
+frame:5.65e+07         wall_t:2176            t:27588                epi:nan
+opt_step:110320        lr:0.0003              clip_eps:0.2           entropy:1.257
+2026-03-14 22:06:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.78     total_reward_ma:26.54  loss:-0.01492          fps:2.596e+04
+frame:5.66e+07         wall_t:2180            t:27637                epi:nan
+opt_step:110480        lr:0.0003              clip_eps:0.2           entropy:1.277
+2026-03-14 22:07:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.16     total_reward_ma:26.59  loss:-0.01319          fps:2.596e+04
+frame:5.67e+07         wall_t:2184            t:27686                epi:nan
+opt_step:110720        lr:0.0003              clip_eps:0.2           entropy:1.109
+2026-03-14 22:07:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.37     total_reward_ma:26.68  loss:-0.01484          fps:2.597e+04
+frame:5.68e+07         wall_t:2187            t:27735                epi:nan
+opt_step:110880        lr:0.0003              clip_eps:0.2           entropy:1.098
+2026-03-14 22:07:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.48     total_reward_ma:26.74  loss:-0.0125           fps:2.597e+04
+frame:5.69e+07         wall_t:2191            t:27784                epi:nan
+opt_step:111120        lr:0.0003              clip_eps:0.2           entropy:1.041
+2026-03-14 22:07:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.73     total_reward_ma:26.78  loss:-0.01485          fps:2.598e+04
+frame:5.70e+07         wall_t:2194            t:27833                epi:nan
+opt_step:111280        lr:0.0003              clip_eps:0.2           entropy:1.28
+2026-03-14 22:07:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.26     total_reward_ma:26.84  loss:-0.01329          fps:2.598e+04
+frame:5.71e+07         wall_t:2198            t:27881                epi:nan
+opt_step:111520        lr:0.0003              clip_eps:0.2           entropy:1.045
+2026-03-14 22:07:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.84     total_reward_ma:26.89  loss:-0.01396          fps:2.599e+04
+frame:5.72e+07         wall_t:2201            t:27930                epi:nan
+opt_step:111680        lr:0.0003              clip_eps:0.2           entropy:1.116
+2026-03-14 22:07:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.95     total_reward_ma:26.95  loss:-0.01316          fps:2.6e+04
+frame:5.73e+07         wall_t:2204            t:27979                epi:nan
+opt_step:111840        lr:0.0003              clip_eps:0.2           entropy:1.098
+2026-03-14 22:07:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.87     total_reward_ma:27.00  loss:-0.01343          fps:2.6e+04
+frame:5.74e+07         wall_t:2208            t:28028                epi:nan
+opt_step:112080        lr:0.0003              clip_eps:0.2           entropy:1.079
+2026-03-14 22:07:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.20     total_reward_ma:27.07  loss:-0.01345          fps:2.6e+04
+frame:5.75e+07         wall_t:2212            t:28077                epi:nan
+opt_step:112240        lr:0.0003              clip_eps:0.2           entropy:1.041
+2026-03-14 22:07:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.03     total_reward_ma:27.11  loss:-0.01121          fps:2.599e+04
+frame:5.76e+07         wall_t:2216            t:28125                epi:nan
+opt_step:112480        lr:0.0003              clip_eps:0.2           entropy:0.9093
+2026-03-14 22:07:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.22     total_reward_ma:27.16  loss:-0.01265          fps:2.6e+04
+frame:5.77e+07         wall_t:2219            t:28174                epi:nan
+opt_step:112640        lr:0.0003              clip_eps:0.2           entropy:1.246
+2026-03-14 22:07:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:5.78e+07         wall_t:2222            t:28223                epi:nan
+opt_step:112880        lr:0.0003              clip_eps:0.2           entropy:0.6972
+2026-03-14 22:07:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.83     total_reward_ma:27.27  loss:-0.0126           fps:2.602e+04
+frame:5.79e+07         wall_t:2225            t:28272                epi:nan
+opt_step:113040        lr:0.0003              clip_eps:0.2           entropy:0.7662
+2026-03-14 22:07:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.75     total_reward_ma:27.35  loss:-0.01454          fps:2.602e+04
+frame:5.80e+07         wall_t:2229            t:28321                epi:nan
+opt_step:113280        lr:0.0003              clip_eps:0.2           entropy:0.7649
+2026-03-14 22:07:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.82     total_reward_ma:27.39  loss:-0.01091          fps:2.602e+04
+frame:5.81e+07         wall_t:2233            t:28370                epi:nan
+opt_step:113440        lr:0.0003              clip_eps:0.2           entropy:0.9612
+2026-03-14 22:07:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.80     total_reward_ma:27.42  loss:-0.01193          fps:2.603e+04
+frame:5.82e+07         wall_t:2236            t:28418                epi:nan
+opt_step:113600        lr:0.0003              clip_eps:0.2           entropy:0.7587
+2026-03-14 22:07:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.77     total_reward_ma:27.49  loss:-0.0127           fps:2.603e+04
+frame:5.83e+07         wall_t:2240            t:28467                epi:nan
+opt_step:113840        lr:0.0003              clip_eps:0.2           entropy:0.7395
+2026-03-14 22:08:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.08     total_reward_ma:27.54  loss:-0.01364          fps:2.604e+04
+frame:5.84e+07         wall_t:2243            t:28516                epi:nan
+opt_step:114000        lr:0.0003              clip_eps:0.2           entropy:1.079
+2026-03-14 22:08:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.28     total_reward_ma:27.57  loss:-0.01264          fps:2.602e+04
+frame:5.85e+07         wall_t:2248            t:28565                epi:nan
+opt_step:114240        lr:0.0003              clip_eps:0.2           entropy:0.7541
+2026-03-14 22:08:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.36     total_reward_ma:27.60  loss:-0.0124           fps:2.603e+04
+frame:5.86e+07         wall_t:2251            t:28614                epi:nan
+opt_step:114400        lr:0.0003              clip_eps:0.2           entropy:0.7286
+2026-03-14 22:08:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.01     total_reward_ma:27.64  loss:-0.01202          fps:2.603e+04
+frame:5.87e+07         wall_t:2255            t:28663                epi:nan
+opt_step:114640        lr:0.0003              clip_eps:0.2           entropy:0.753
+2026-03-14 22:08:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.31     total_reward_ma:27.66  loss:-0.01266          fps:2.604e+04
+frame:5.88e+07         wall_t:2258            t:28711                epi:nan
+opt_step:114800        lr:0.0003              clip_eps:0.2           entropy:0.7673
+2026-03-14 22:08:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.29     total_reward_ma:27.68  loss:-0.01353          fps:2.604e+04
+frame:5.89e+07         wall_t:2262            t:28760                epi:nan
+opt_step:115040        lr:0.0003              clip_eps:0.2           entropy:0.6784
+2026-03-14 22:08:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.29     total_reward_ma:27.73  loss:-0.01187          fps:2.605e+04
+frame:5.90e+07         wall_t:2265            t:28809                epi:nan
+opt_step:115200        lr:0.0003              clip_eps:0.2           entropy:0.6776
+2026-03-14 22:08:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.53     total_reward_ma:27.78  loss:-0.01302          fps:2.605e+04
+frame:5.91e+07         wall_t:2269            t:28858                epi:nan
+opt_step:115360        lr:0.0003              clip_eps:0.2           entropy:0.703
+2026-03-14 22:08:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.15     total_reward_ma:27.83  loss:-0.01342          fps:2.605e+04
+frame:5.92e+07         wall_t:2273            t:28907                epi:nan
+opt_step:115600        lr:0.0003              clip_eps:0.2           entropy:0.7806
+2026-03-14 22:08:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.54     total_reward_ma:27.91  loss:-0.01296          fps:2.606e+04
+frame:5.93e+07         wall_t:2276            t:28956                epi:nan
+opt_step:115760        lr:0.0003              clip_eps:0.2           entropy:0.5768
+2026-03-14 22:08:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.65     total_reward_ma:27.98  loss:-0.01463          fps:2.605e+04
+frame:5.94e+07         wall_t:2280            t:29004                epi:nan
+opt_step:116000        lr:0.0003              clip_eps:0.2           entropy:0.7037
+2026-03-14 22:08:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.36     total_reward_ma:28.05  loss:-0.0125           fps:2.606e+04
+frame:5.95e+07         wall_t:2283            t:29053                epi:nan
+opt_step:116160        lr:0.0003              clip_eps:0.2           entropy:0.7157
+2026-03-14 22:08:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.38     total_reward_ma:28.10  loss:-0.009864         fps:2.606e+04
+frame:5.96e+07         wall_t:2287            t:29102                epi:nan
+opt_step:116400        lr:0.0003              clip_eps:0.2           entropy:0.7236
+2026-03-14 22:08:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.79     total_reward_ma:28.13  loss:-0.01404          fps:2.607e+04
+frame:5.97e+07         wall_t:2290            t:29151                epi:nan
+opt_step:116560        lr:0.0003              clip_eps:0.2           entropy:0.8951
+2026-03-14 22:08:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.21     total_reward_ma:28.18  loss:-0.01334          fps:2.607e+04
+frame:5.98e+07         wall_t:2294            t:29200                epi:nan
+opt_step:116800        lr:0.0003              clip_eps:0.2           entropy:0.7972
+2026-03-14 22:08:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.71     total_reward_ma:28.24  loss:-0.01256          fps:2.608e+04
+frame:5.99e+07         wall_t:2297            t:29249                epi:nan
+opt_step:116960        lr:0.0003              clip_eps:0.2           entropy:0.6421
+2026-03-14 22:08:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.80     total_reward_ma:28.31  loss:-0.01167          fps:2.609e+04
+frame:6.00e+07         wall_t:2300            t:29297                epi:nan
+opt_step:117120        lr:0.0003              clip_eps:0.2           entropy:0.525
+2026-03-14 22:09:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.96     total_reward_ma:28.35  loss:-0.01336          fps:2.609e+04
+frame:6.01e+07         wall_t:2304            t:29346                epi:nan
+opt_step:117360        lr:0.0003              clip_eps:0.2           entropy:0.7815
+2026-03-14 22:09:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.02     total_reward_ma:28.38  loss:-0.01213          fps:2.609e+04
+frame:6.02e+07         wall_t:2307            t:29395                epi:nan
+opt_step:117520        lr:0.0003              clip_eps:0.2           entropy:0.6839
+2026-03-14 22:09:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.56     total_reward_ma:28.42  loss:-0.01078          fps:2.609e+04
+frame:6.03e+07         wall_t:2311            t:29444                epi:nan
+opt_step:117760        lr:0.0003              clip_eps:0.2           entropy:0.7426
+2026-03-14 22:09:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.92     total_reward_ma:28.47  loss:-0.01111          fps:2.609e+04
+frame:6.04e+07         wall_t:2315            t:29493                epi:nan
+opt_step:117920        lr:0.0003              clip_eps:0.2           entropy:0.7881
+2026-03-14 22:09:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.11     total_reward_ma:28.50  loss:-0.01254          fps:2.609e+04
+frame:6.05e+07         wall_t:2319            t:29542                epi:nan
+opt_step:118160        lr:0.0003              clip_eps:0.2           entropy:0.6211
+2026-03-14 22:09:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.26     total_reward_ma:28.56  loss:-0.01177          fps:2.61e+04
+frame:6.06e+07         wall_t:2322            t:29590                epi:nan
+opt_step:118320        lr:0.0003              clip_eps:0.2           entropy:0.7751
+2026-03-14 22:09:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.66     total_reward_ma:28.57  loss:-0.01315          fps:2.611e+04
+frame:6.07e+07         wall_t:2325            t:29639                epi:nan
+opt_step:118480        lr:0.0003              clip_eps:0.2           entropy:1.084
+2026-03-14 22:09:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.27     total_reward_ma:28.59  loss:-0.01224          fps:2.611e+04
+frame:6.08e+07         wall_t:2329            t:29688                epi:nan
+opt_step:118720        lr:0.0003              clip_eps:0.2           entropy:0.9112
+2026-03-14 22:09:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.79     total_reward_ma:28.61  loss:-0.01236          fps:2.61e+04
+frame:6.09e+07         wall_t:2333            t:29737                epi:nan
+opt_step:118880        lr:0.0003              clip_eps:0.2           entropy:0.8266
+2026-03-14 22:09:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.43     total_reward_ma:28.63  loss:-0.01397          fps:2.61e+04
+frame:6.10e+07         wall_t:2337            t:29786                epi:nan
+opt_step:119120        lr:0.0003              clip_eps:0.2           entropy:1.01
+2026-03-14 22:09:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.88     total_reward_ma:28.63  loss:-0.01278          fps:2.611e+04
+frame:6.11e+07         wall_t:2340            t:29834                epi:nan
+opt_step:119280        lr:0.0003              clip_eps:0.2           entropy:0.8087
+2026-03-14 22:09:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.44     total_reward_ma:28.66  loss:-0.01102          fps:2.611e+04
+frame:6.12e+07         wall_t:2344            t:29883                epi:nan
+opt_step:119520        lr:0.0003              clip_eps:0.2           entropy:0.7202
+2026-03-14 22:09:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.00     total_reward_ma:28.69  loss:-0.01377          fps:2.612e+04
+frame:6.13e+07         wall_t:2347            t:29932                epi:nan
+opt_step:119680        lr:0.0003              clip_eps:0.2           entropy:0.8887
+2026-03-14 22:09:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.71     total_reward_ma:28.71  loss:-0.013            fps:2.611e+04
+frame:6.14e+07         wall_t:2352            t:29981                epi:nan
+opt_step:119920        lr:0.0003              clip_eps:0.2           entropy:0.8471
+2026-03-14 22:09:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.62     total_reward_ma:28.74  loss:-0.01123          fps:2.612e+04
+frame:6.15e+07         wall_t:2355            t:30030                epi:nan
+opt_step:120080        lr:0.0003              clip_eps:0.2           entropy:0.8933
+2026-03-14 22:09:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.58     total_reward_ma:28.76  loss:-0.01094          fps:2.612e+04
+frame:6.16e+07         wall_t:2358            t:30079                epi:nan
+opt_step:120240        lr:0.0003              clip_eps:0.2           entropy:0.7934
+2026-03-14 22:09:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.17e+07         wall_t:2362            t:30127                epi:nan
+opt_step:120480        lr:0.0003              clip_eps:0.2           entropy:0.9359
+2026-03-14 22:10:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.18e+07         wall_t:2365            t:30176                epi:nan
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+2026-03-14 22:10:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.19e+07         wall_t:2369            t:30225                epi:nan
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+2026-03-14 22:10:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.20e+07         wall_t:2372            t:30274                epi:nan
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+2026-03-14 22:10:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.21e+07         wall_t:2376            t:30323                epi:nan
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+2026-03-14 22:10:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.22e+07         wall_t:2379            t:30372                epi:nan
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+2026-03-14 22:10:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.23e+07         wall_t:2383            t:30420                epi:nan
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+2026-03-14 22:10:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.24e+07         wall_t:2386            t:30469                epi:nan
+opt_step:121840        lr:0.0003              clip_eps:0.2           entropy:1.09
+2026-03-14 22:10:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.25e+07         wall_t:2389            t:30518                epi:nan
+opt_step:122000        lr:0.0003              clip_eps:0.2           entropy:0.942
+2026-03-14 22:10:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.26e+07         wall_t:2393            t:30567                epi:nan
+opt_step:122240        lr:0.0003              clip_eps:0.2           entropy:0.812
+2026-03-14 22:10:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.27e+07         wall_t:2396            t:30616                epi:nan
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+2026-03-14 22:10:36 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.28e+07         wall_t:2400            t:30665                epi:nan
+opt_step:122640        lr:0.0003              clip_eps:0.2           entropy:1.057
+2026-03-14 22:10:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.29e+07         wall_t:2404            t:30713                epi:nan
+opt_step:122800        lr:0.0003              clip_eps:0.2           entropy:0.6489
+2026-03-14 22:10:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.30e+07         wall_t:2408            t:30762                epi:nan
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+2026-03-14 22:10:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.31e+07         wall_t:2411            t:30811                epi:nan
+opt_step:123200        lr:0.0003              clip_eps:0.2           entropy:0.8895
+2026-03-14 22:10:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.76     total_reward_ma:29.08  loss:-0.01294          fps:2.617e+04
+frame:6.32e+07         wall_t:2415            t:30860                epi:nan
+opt_step:123440        lr:0.0003              clip_eps:0.2           entropy:0.9181
+2026-03-14 22:10:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.21     total_reward_ma:29.12  loss:-0.0131           fps:2.618e+04
+frame:6.33e+07         wall_t:2418            t:30909                epi:nan
+opt_step:123600        lr:0.0003              clip_eps:0.2           entropy:1.095
+2026-03-14 22:10:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.29     total_reward_ma:29.14  loss:-0.0158           fps:2.619e+04
+frame:6.34e+07         wall_t:2421            t:30958                epi:nan
+opt_step:123760        lr:0.0003              clip_eps:0.2           entropy:1.119
+2026-03-14 22:11:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.52     total_reward_ma:29.14  loss:-0.01281          fps:2.619e+04
+frame:6.35e+07         wall_t:2425            t:31006                epi:nan
+opt_step:124000        lr:0.0003              clip_eps:0.2           entropy:1.156
+2026-03-14 22:11:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.96     total_reward_ma:29.15  loss:-0.01342          fps:2.619e+04
+frame:6.36e+07         wall_t:2428            t:31055                epi:nan
+opt_step:124160        lr:0.0003              clip_eps:0.2           entropy:0.9336
+2026-03-14 22:11:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:25.53     total_reward_ma:29.12  loss:-0.01487          fps:2.619e+04
+frame:6.37e+07         wall_t:2432            t:31104                epi:nan
+opt_step:124400        lr:0.0003              clip_eps:0.2           entropy:0.8137
+2026-03-14 22:11:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.09     total_reward_ma:29.12  loss:-0.01427          fps:2.619e+04
+frame:6.38e+07         wall_t:2436            t:31153                epi:nan
+opt_step:124560        lr:0.0003              clip_eps:0.2           entropy:1.009
+2026-03-14 22:11:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.04     total_reward_ma:29.13  loss:-0.0115           fps:2.619e+04
+frame:6.39e+07         wall_t:2440            t:31202                epi:nan
+opt_step:124800        lr:0.0003              clip_eps:0.2           entropy:0.949
+2026-03-14 22:11:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.29     total_reward_ma:29.11  loss:-0.01227          fps:2.62e+04
+frame:6.40e+07         wall_t:2443            t:31250                epi:nan
+opt_step:124960        lr:0.0003              clip_eps:0.2           entropy:1.005
+2026-03-14 22:11:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.21     total_reward_ma:29.13  loss:-0.01293          fps:2.621e+04
+frame:6.41e+07         wall_t:2446            t:31299                epi:nan
+opt_step:125120        lr:0.0003              clip_eps:0.2           entropy:0.9088
+2026-03-14 22:11:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.94     total_reward_ma:29.13  loss:-0.01335          fps:2.62e+04
+frame:6.42e+07         wall_t:2450            t:31348                epi:nan
+opt_step:125360        lr:0.0003              clip_eps:0.2           entropy:1.158
+2026-03-14 22:11:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.97     total_reward_ma:29.12  loss:-0.01463          fps:2.621e+04
+frame:6.43e+07         wall_t:2453            t:31397                epi:nan
+opt_step:125520        lr:0.0003              clip_eps:0.2           entropy:0.9672
+2026-03-14 22:11:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.83     total_reward_ma:29.13  loss:-0.01431          fps:2.621e+04
+frame:6.44e+07         wall_t:2457            t:31446                epi:nan
+opt_step:125760        lr:0.0003              clip_eps:0.2           entropy:1.083
+2026-03-14 22:11:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.16     total_reward_ma:29.12  loss:-0.01358          fps:2.621e+04
+frame:6.45e+07         wall_t:2461            t:31495                epi:nan
+opt_step:125920        lr:0.0003              clip_eps:0.2           entropy:0.9959
+2026-03-14 22:11:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.05     total_reward_ma:29.13  loss:-0.01573          fps:2.621e+04
+frame:6.46e+07         wall_t:2465            t:31543                epi:nan
+opt_step:126160        lr:0.0003              clip_eps:0.2           entropy:1.239
+2026-03-14 22:11:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.54     total_reward_ma:29.14  loss:-0.01396          fps:2.622e+04
+frame:6.47e+07         wall_t:2468            t:31592                epi:nan
+opt_step:126320        lr:0.0003              clip_eps:0.2           entropy:0.9643
+2026-03-14 22:11:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.48     total_reward_ma:29.17  loss:-0.01471          fps:2.621e+04
+frame:6.48e+07         wall_t:2472            t:31641                epi:nan
+opt_step:126560        lr:0.0003              clip_eps:0.2           entropy:1.016
+2026-03-14 22:11:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.89     total_reward_ma:29.15  loss:-0.01197          fps:2.621e+04
+frame:6.49e+07         wall_t:2476            t:31690                epi:nan
+opt_step:126720        lr:0.0003              clip_eps:0.2           entropy:0.91
+2026-03-14 22:11:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.94     total_reward_ma:29.15  loss:-0.01322          fps:2.622e+04
+frame:6.50e+07         wall_t:2479            t:31739                epi:nan
+opt_step:126880        lr:0.0003              clip_eps:0.2           entropy:1.142
+2026-03-14 22:11:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:26.94     total_reward_ma:29.12  loss:-0.01351          fps:2.622e+04
+frame:6.51e+07         wall_t:2483            t:31788                epi:nan
+opt_step:127120        lr:0.0003              clip_eps:0.2           entropy:0.9307
+2026-03-14 22:12:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.72     total_reward_ma:29.11  loss:-0.01377          fps:2.623e+04
+frame:6.52e+07         wall_t:2486            t:31836                epi:nan
+opt_step:127280        lr:0.0003              clip_eps:0.2           entropy:0.9355
+2026-03-14 22:12:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.37     total_reward_ma:29.09  loss:-0.01356          fps:2.623e+04
+frame:6.53e+07         wall_t:2490            t:31885                epi:nan
+opt_step:127520        lr:0.0003              clip_eps:0.2           entropy:0.9751
+2026-03-14 22:12:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.76     total_reward_ma:29.10  loss:-0.01515          fps:2.623e+04
+frame:6.54e+07         wall_t:2493            t:31934                epi:nan
+opt_step:127680        lr:0.0003              clip_eps:0.2           entropy:1.056
+2026-03-14 22:12:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.55     total_reward_ma:29.10  loss:-0.01241          fps:2.623e+04
+frame:6.55e+07         wall_t:2497            t:31983                epi:nan
+opt_step:127920        lr:0.0003              clip_eps:0.2           entropy:1.004
+2026-03-14 22:12:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.51     total_reward_ma:29.12  loss:-0.01253          fps:2.623e+04
+frame:6.56e+07         wall_t:2501            t:32032                epi:nan
+opt_step:128080        lr:0.0003              clip_eps:0.2           entropy:1.057
+2026-03-14 22:12:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.73     total_reward_ma:29.12  loss:-0.01233          fps:2.623e+04
+frame:6.57e+07         wall_t:2505            t:32081                epi:nan
+opt_step:128320        lr:0.0003              clip_eps:0.2           entropy:1.009
+2026-03-14 22:12:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.13     total_reward_ma:29.10  loss:-0.01488          fps:2.624e+04
+frame:6.58e+07         wall_t:2508            t:32129                epi:nan
+opt_step:128480        lr:0.0003              clip_eps:0.2           entropy:1.105
+2026-03-14 22:12:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.92     total_reward_ma:29.10  loss:-0.01582          fps:2.623e+04
+frame:6.59e+07         wall_t:2512            t:32178                epi:nan
+opt_step:128640        lr:0.0003              clip_eps:0.2           entropy:1.094
+2026-03-14 22:12:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.20     total_reward_ma:29.10  loss:-0.01326          fps:2.623e+04
+frame:6.60e+07         wall_t:2516            t:32227                epi:nan
+opt_step:128880        lr:0.0003              clip_eps:0.2           entropy:1.049
+2026-03-14 22:12:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.55     total_reward_ma:29.10  loss:-0.01506          fps:2.624e+04
+frame:6.61e+07         wall_t:2519            t:32276                epi:nan
+opt_step:129040        lr:0.0003              clip_eps:0.2           entropy:1.186
+2026-03-14 22:12:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.29     total_reward_ma:29.11  loss:-0.0142           fps:2.624e+04
+frame:6.62e+07         wall_t:2523            t:32325                epi:nan
+opt_step:129280        lr:0.0003              clip_eps:0.2           entropy:0.9899
+2026-03-14 22:12:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.45     total_reward_ma:29.13  loss:-0.01629          fps:2.625e+04
+frame:6.63e+07         wall_t:2526            t:32374                epi:nan
+opt_step:129440        lr:0.0003              clip_eps:0.2           entropy:1.018
+2026-03-14 22:12:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.05     total_reward_ma:29.14  loss:-0.01536          fps:2.625e+04
+frame:6.64e+07         wall_t:2530            t:32422                epi:nan
+opt_step:129680        lr:0.0003              clip_eps:0.2           entropy:0.9828
+2026-03-14 22:12:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.75     total_reward_ma:29.15  loss:-0.01379          fps:2.624e+04
+frame:6.65e+07         wall_t:2534            t:32471                epi:nan
+opt_step:129840        lr:0.0003              clip_eps:0.2           entropy:1.042
+2026-03-14 22:12:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.25     total_reward_ma:29.16  loss:-0.0133           fps:2.624e+04
+frame:6.66e+07         wall_t:2538            t:32520                epi:nan
+opt_step:130080        lr:0.0003              clip_eps:0.2           entropy:0.9943
+2026-03-14 22:12:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.55     total_reward_ma:29.16  loss:-0.01391          fps:2.625e+04
+frame:6.67e+07         wall_t:2541            t:32569                epi:nan
+opt_step:130240        lr:0.0003              clip_eps:0.2           entropy:0.9272
+2026-03-14 22:13:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.77     total_reward_ma:29.15  loss:-0.01413          fps:2.626e+04
+frame:6.68e+07         wall_t:2544            t:32618                epi:nan
+opt_step:130400        lr:0.0003              clip_eps:0.2           entropy:0.9521
+2026-03-14 22:13:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.09     total_reward_ma:29.15  loss:-0.01559          fps:2.626e+04
+frame:6.69e+07         wall_t:2548            t:32667                epi:nan
+opt_step:130640        lr:0.0003              clip_eps:0.2           entropy:0.9368
+2026-03-14 22:13:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.70e+07         wall_t:2552            t:32715                epi:nan
+opt_step:130800        lr:0.0003              clip_eps:0.2           entropy:0.9509
+2026-03-14 22:13:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.71e+07         wall_t:2556            t:32764                epi:nan
+opt_step:131040        lr:0.0003              clip_eps:0.2           entropy:0.7802
+2026-03-14 22:13:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.72e+07         wall_t:2559            t:32813                epi:nan
+opt_step:131200        lr:0.0003              clip_eps:0.2           entropy:0.9091
+2026-03-14 22:13:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.73e+07         wall_t:2563            t:32862                epi:nan
+opt_step:131440        lr:0.0003              clip_eps:0.2           entropy:0.7619
+2026-03-14 22:13:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:6.74e+07         wall_t:2566            t:32911                epi:nan
+opt_step:131600        lr:0.0003              clip_eps:0.2           entropy:0.9749
+2026-03-14 22:13:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.32     total_reward_ma:29.08  loss:-0.0161           fps:2.627e+04
+frame:6.75e+07         wall_t:2569            t:32959                epi:nan
+opt_step:131760        lr:0.0003              clip_eps:0.2           entropy:0.7874
+2026-03-14 22:13:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.24     total_reward_ma:29.08  loss:-0.01164          fps:2.627e+04
+frame:6.76e+07         wall_t:2573            t:33008                epi:nan
+opt_step:132000        lr:0.0003              clip_eps:0.2           entropy:0.7821
+2026-03-14 22:13:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.01     total_reward_ma:29.07  loss:-0.01388          fps:2.627e+04
+frame:6.77e+07         wall_t:2577            t:33057                epi:nan
+opt_step:132160        lr:0.0003              clip_eps:0.2           entropy:0.9004
+2026-03-14 22:13:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:27.53     total_reward_ma:29.03  loss:-0.01424          fps:2.627e+04
+frame:6.78e+07         wall_t:2581            t:33106                epi:nan
+opt_step:132400        lr:0.0003              clip_eps:0.2           entropy:0.948
+2026-03-14 22:13:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.48     total_reward_ma:29.04  loss:-0.01237          fps:2.628e+04
+frame:6.79e+07         wall_t:2584            t:33155                epi:nan
+opt_step:132560        lr:0.0003              clip_eps:0.2           entropy:0.6966
+2026-03-14 22:13:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.42     total_reward_ma:29.02  loss:-0.01546          fps:2.628e+04
+frame:6.80e+07         wall_t:2588            t:33204                epi:nan
+opt_step:132800        lr:0.0003              clip_eps:0.2           entropy:0.8063
+2026-03-14 22:13:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.46     total_reward_ma:29.03  loss:-0.01361          fps:2.628e+04
+frame:6.81e+07         wall_t:2591            t:33252                epi:nan
+opt_step:132960        lr:0.0003              clip_eps:0.2           entropy:0.7401
+2026-03-14 22:13:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.74     total_reward_ma:29.07  loss:-0.01555          fps:2.628e+04
+frame:6.82e+07         wall_t:2595            t:33301                epi:nan
+opt_step:133200        lr:0.0003              clip_eps:0.2           entropy:0.9963
+2026-03-14 22:13:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.27     total_reward_ma:29.07  loss:-0.01433          fps:2.628e+04
+frame:6.83e+07         wall_t:2599            t:33350                epi:nan
+opt_step:133360        lr:0.0003              clip_eps:0.2           entropy:0.8564
+2026-03-14 22:13:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.37     total_reward_ma:29.07  loss:-0.01299          fps:2.629e+04
+frame:6.84e+07         wall_t:2602            t:33399                epi:nan
+opt_step:133520        lr:0.0003              clip_eps:0.2           entropy:0.8809
+2026-03-14 22:14:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.13     total_reward_ma:29.06  loss:-0.01478          fps:2.629e+04
+frame:6.85e+07         wall_t:2606            t:33448                epi:nan
+opt_step:133760        lr:0.0003              clip_eps:0.2           entropy:1.01
+2026-03-14 22:14:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.71     total_reward_ma:29.06  loss:-0.01481          fps:2.628e+04
+frame:6.86e+07         wall_t:2610            t:33497                epi:nan
+opt_step:133920        lr:0.0003              clip_eps:0.2           entropy:0.9766
+2026-03-14 22:14:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.88     total_reward_ma:29.06  loss:-0.01443          fps:2.628e+04
+frame:6.87e+07         wall_t:2614            t:33545                epi:nan
+opt_step:134160        lr:0.0003              clip_eps:0.2           entropy:0.9047
+2026-03-14 22:14:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.51     total_reward_ma:29.08  loss:-0.01522          fps:2.629e+04
+frame:6.88e+07         wall_t:2617            t:33594                epi:nan
+opt_step:134320        lr:0.0003              clip_eps:0.2           entropy:0.7444
+2026-03-14 22:14:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.51     total_reward_ma:29.10  loss:-0.01339          fps:2.629e+04
+frame:6.89e+07         wall_t:2621            t:33643                epi:nan
+opt_step:134560        lr:0.0003              clip_eps:0.2           entropy:0.7797
+2026-03-14 22:14:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.83     total_reward_ma:29.11  loss:-0.01177          fps:2.63e+04
+frame:6.90e+07         wall_t:2624            t:33692                epi:nan
+opt_step:134720        lr:0.0003              clip_eps:0.2           entropy:0.7673
+2026-03-14 22:14:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.11     total_reward_ma:29.10  loss:-0.01308          fps:2.629e+04
+frame:6.91e+07         wall_t:2628            t:33741                epi:nan
+opt_step:134960        lr:0.0003              clip_eps:0.2           entropy:0.8015
+2026-03-14 22:14:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.71     total_reward_ma:29.09  loss:-0.01053          fps:2.63e+04
+frame:6.92e+07         wall_t:2631            t:33790                epi:nan
+opt_step:135120        lr:0.0003              clip_eps:0.2           entropy:0.7415
+2026-03-14 22:14:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.23     total_reward_ma:29.07  loss:-0.01381          fps:2.631e+04
+frame:6.93e+07         wall_t:2634            t:33838                epi:nan
+opt_step:135280        lr:0.0003              clip_eps:0.2           entropy:0.774
+2026-03-14 22:14:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.60     total_reward_ma:29.08  loss:-0.0127           fps:2.631e+04
+frame:6.94e+07         wall_t:2638            t:33887                epi:nan
+opt_step:135520        lr:0.0003              clip_eps:0.2           entropy:0.6011
+2026-03-14 22:14:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.57     total_reward_ma:29.08  loss:-0.01259          fps:2.632e+04
+frame:6.95e+07         wall_t:2641            t:33936                epi:nan
+opt_step:135680        lr:0.0003              clip_eps:0.2           entropy:0.7373
+2026-03-14 22:14:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.95     total_reward_ma:29.09  loss:-0.01346          fps:2.631e+04
+frame:6.96e+07         wall_t:2645            t:33985                epi:nan
+opt_step:135920        lr:0.0003              clip_eps:0.2           entropy:0.7815
+2026-03-14 22:14:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.27     total_reward_ma:29.10  loss:-0.01406          fps:2.632e+04
+frame:6.97e+07         wall_t:2648            t:34034                epi:nan
+opt_step:136080        lr:0.0003              clip_eps:0.2           entropy:0.9519
+2026-03-14 22:14:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.06     total_reward_ma:29.09  loss:-0.01511          fps:2.632e+04
+frame:6.98e+07         wall_t:2652            t:34083                epi:nan
+opt_step:136320        lr:0.0003              clip_eps:0.2           entropy:0.8409
+2026-03-14 22:14:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.77     total_reward_ma:29.09  loss:-0.01438          fps:2.633e+04
+frame:6.99e+07         wall_t:2655            t:34131                epi:nan
+opt_step:136480        lr:0.0003              clip_eps:0.2           entropy:0.9643
+2026-03-14 22:14:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.85     total_reward_ma:29.05  loss:-0.01442          fps:2.633e+04
+frame:7.00e+07         wall_t:2659            t:34180                epi:nan
+opt_step:136720        lr:0.0003              clip_eps:0.2           entropy:0.9698
+2026-03-14 22:14:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.06     total_reward_ma:29.07  loss:-0.01299          fps:2.632e+04
+frame:7.01e+07         wall_t:2663            t:34229                epi:nan
+opt_step:136880        lr:0.0003              clip_eps:0.2           entropy:0.8608
+2026-03-14 22:15:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.44     total_reward_ma:29.10  loss:-0.01596          fps:2.633e+04
+frame:7.02e+07         wall_t:2666            t:34278                epi:nan
+opt_step:137040        lr:0.0003              clip_eps:0.2           entropy:0.7411
+2026-03-14 22:15:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.21     total_reward_ma:29.10  loss:-0.01321          fps:2.633e+04
+frame:7.03e+07         wall_t:2670            t:34327                epi:nan
+opt_step:137280        lr:0.0003              clip_eps:0.2           entropy:0.8995
+2026-03-14 22:15:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.18     total_reward_ma:29.12  loss:-0.0143           fps:2.634e+04
+frame:7.04e+07         wall_t:2673            t:34375                epi:nan
+opt_step:137440        lr:0.0003              clip_eps:0.2           entropy:0.7619
+2026-03-14 22:15:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.51     total_reward_ma:29.10  loss:-0.01407          fps:2.634e+04
+frame:7.05e+07         wall_t:2677            t:34424                epi:nan
+opt_step:137680        lr:0.0003              clip_eps:0.2           entropy:0.8958
+2026-03-14 22:15:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.06     total_reward_ma:29.12  loss:-0.01363          fps:2.633e+04
+frame:7.06e+07         wall_t:2681            t:34473                epi:nan
+opt_step:137840        lr:0.0003              clip_eps:0.2           entropy:0.8947
+2026-03-14 22:15:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.08     total_reward_ma:29.14  loss:-0.01213          fps:2.633e+04
+frame:7.07e+07         wall_t:2685            t:34522                epi:nan
+opt_step:138080        lr:0.0003              clip_eps:0.2           entropy:0.8483
+2026-03-14 22:15:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.29     total_reward_ma:29.16  loss:-0.01423          fps:2.634e+04
+frame:7.08e+07         wall_t:2688            t:34571                epi:nan
+opt_step:138240        lr:0.0003              clip_eps:0.2           entropy:0.8726
+2026-03-14 22:15:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.44     total_reward_ma:29.16  loss:-0.01407          fps:2.634e+04
+frame:7.09e+07         wall_t:2692            t:34620                epi:nan
+opt_step:138480        lr:0.0003              clip_eps:0.2           entropy:1.09
+2026-03-14 22:15:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.61     total_reward_ma:29.18  loss:-0.01507          fps:2.635e+04
+frame:7.10e+07         wall_t:2695            t:34668                epi:nan
+opt_step:138640        lr:0.0003              clip_eps:0.2           entropy:0.8302
+2026-03-14 22:15:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.72     total_reward_ma:29.20  loss:-0.01245          fps:2.634e+04
+frame:7.11e+07         wall_t:2699            t:34717                epi:nan
+opt_step:138800        lr:0.0003              clip_eps:0.2           entropy:0.9337
+2026-03-14 22:15:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.33     total_reward_ma:29.20  loss:-0.0151           fps:2.634e+04
+frame:7.12e+07         wall_t:2703            t:34766                epi:nan
+opt_step:139040        lr:0.0003              clip_eps:0.2           entropy:0.8883
+2026-03-14 22:15:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.04     total_reward_ma:29.21  loss:-0.01425          fps:2.635e+04
+frame:7.13e+07         wall_t:2706            t:34815                epi:nan
+opt_step:139200        lr:0.0003              clip_eps:0.2           entropy:0.8288
+2026-03-14 22:15:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.50     total_reward_ma:29.21  loss:-0.01369          fps:2.635e+04
+frame:7.14e+07         wall_t:2710            t:34864                epi:nan
+opt_step:139440        lr:0.0003              clip_eps:0.2           entropy:1.044
+2026-03-14 22:15:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.81     total_reward_ma:29.21  loss:-0.01439          fps:2.635e+04
+frame:7.15e+07         wall_t:2714            t:34913                epi:nan
+opt_step:139600        lr:0.0003              clip_eps:0.2           entropy:0.7538
+2026-03-14 22:15:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.16e+07         wall_t:2718            t:34961                epi:nan
+opt_step:139840        lr:0.0003              clip_eps:0.2           entropy:0.8831
+2026-03-14 22:15:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.80     total_reward_ma:29.23  loss:-0.01498          fps:2.635e+04
+frame:7.17e+07         wall_t:2721            t:35010                epi:nan
+opt_step:140000        lr:0.0003              clip_eps:0.2           entropy:0.9567
+2026-03-14 22:16:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.18e+07         wall_t:2724            t:35059                epi:nan
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+2026-03-14 22:16:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.19e+07         wall_t:2728            t:35108                epi:nan
+opt_step:140400        lr:0.0003              clip_eps:0.2           entropy:1.074
+2026-03-14 22:16:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.20e+07         wall_t:2732            t:35157                epi:nan
+opt_step:140560        lr:0.0003              clip_eps:0.2           entropy:0.9772
+2026-03-14 22:16:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.21e+07         wall_t:2736            t:35206                epi:nan
+opt_step:140800        lr:0.0003              clip_eps:0.2           entropy:0.9994
+2026-03-14 22:16:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.22e+07         wall_t:2739            t:35254                epi:nan
+opt_step:140960        lr:0.0003              clip_eps:0.2           entropy:0.8136
+2026-03-14 22:16:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.23e+07         wall_t:2743            t:35303                epi:nan
+opt_step:141200        lr:0.0003              clip_eps:0.2           entropy:0.877
+2026-03-14 22:16:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.22     total_reward_ma:29.32  loss:-0.01202          fps:2.636e+04
+frame:7.24e+07         wall_t:2747            t:35352                epi:nan
+opt_step:141360        lr:0.0003              clip_eps:0.2           entropy:0.8785
+2026-03-14 22:16:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.50     total_reward_ma:29.34  loss:-0.01309          fps:2.635e+04
+frame:7.25e+07         wall_t:2751            t:35401                epi:nan
+opt_step:141600        lr:0.0003              clip_eps:0.2           entropy:0.8514
+2026-03-14 22:16:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.26e+07         wall_t:2754            t:35450                epi:nan
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+2026-03-14 22:16:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.27e+07         wall_t:2758            t:35499                epi:nan
+opt_step:141920        lr:0.0003              clip_eps:0.2           entropy:0.6414
+2026-03-14 22:16:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.63     total_reward_ma:29.39  loss:-0.01328          fps:2.636e+04
+frame:7.28e+07         wall_t:2762            t:35547                epi:nan
+opt_step:142160        lr:0.0003              clip_eps:0.2           entropy:0.973
+2026-03-14 22:16:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.52     total_reward_ma:29.40  loss:-0.0138           fps:2.637e+04
+frame:7.29e+07         wall_t:2765            t:35596                epi:nan
+opt_step:142320        lr:0.0003              clip_eps:0.2           entropy:0.7973
+2026-03-14 22:16:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.63     total_reward_ma:29.44  loss:-0.01341          fps:2.637e+04
+frame:7.30e+07         wall_t:2768            t:35645                epi:nan
+opt_step:142560        lr:0.0003              clip_eps:0.2           entropy:0.807
+2026-03-14 22:16:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.90     total_reward_ma:29.47  loss:-0.01333          fps:2.638e+04
+frame:7.31e+07         wall_t:2771            t:35694                epi:nan
+opt_step:142720        lr:0.0003              clip_eps:0.2           entropy:0.6764
+2026-03-14 22:16:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.60     total_reward_ma:29.48  loss:-0.0148           fps:2.638e+04
+frame:7.32e+07         wall_t:2775            t:35743                epi:nan
+opt_step:142960        lr:0.0003              clip_eps:0.2           entropy:0.802
+2026-03-14 22:16:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.82     total_reward_ma:29.50  loss:-0.01181          fps:2.638e+04
+frame:7.33e+07         wall_t:2779            t:35792                epi:nan
+opt_step:143120        lr:0.0003              clip_eps:0.2           entropy:0.6895
+2026-03-14 22:16:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.04     total_reward_ma:29.53  loss:-0.01331          fps:2.637e+04
+frame:7.34e+07         wall_t:2783            t:35840                epi:nan
+opt_step:143360        lr:0.0003              clip_eps:0.2           entropy:0.609
+2026-03-14 22:17:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.44     total_reward_ma:29.56  loss:-0.01282          fps:2.638e+04
+frame:7.35e+07         wall_t:2786            t:35889                epi:nan
+opt_step:143520        lr:0.0003              clip_eps:0.2           entropy:0.7823
+2026-03-14 22:17:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.13     total_reward_ma:29.61  loss:-0.01315          fps:2.639e+04
+frame:7.36e+07         wall_t:2789            t:35938                epi:nan
+opt_step:143680        lr:0.0003              clip_eps:0.2           entropy:0.7204
+2026-03-14 22:17:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.08     total_reward_ma:29.67  loss:-0.0131           fps:2.639e+04
+frame:7.37e+07         wall_t:2793            t:35987                epi:nan
+opt_step:143920        lr:0.0003              clip_eps:0.2           entropy:0.7198
+2026-03-14 22:17:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.07     total_reward_ma:29.71  loss:-0.01283          fps:2.64e+04
+frame:7.38e+07         wall_t:2796            t:36036                epi:nan
+opt_step:144080        lr:0.0003              clip_eps:0.2           entropy:0.6787
+2026-03-14 22:17:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.93     total_reward_ma:29.72  loss:-0.01245          fps:2.639e+04
+frame:7.39e+07         wall_t:2800            t:36084                epi:nan
+opt_step:144320        lr:0.0003              clip_eps:0.2           entropy:0.667
+2026-03-14 22:17:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.96     total_reward_ma:29.77  loss:-0.0132           fps:2.64e+04
+frame:7.40e+07         wall_t:2803            t:36133                epi:nan
+opt_step:144480        lr:0.0003              clip_eps:0.2           entropy:0.7951
+2026-03-14 22:17:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.48     total_reward_ma:29.79  loss:-0.01262          fps:2.64e+04
+frame:7.41e+07         wall_t:2807            t:36182                epi:nan
+opt_step:144720        lr:0.0003              clip_eps:0.2           entropy:0.7234
+2026-03-14 22:17:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.70     total_reward_ma:29.83  loss:-0.01344          fps:2.64e+04
+frame:7.42e+07         wall_t:2811            t:36231                epi:nan
+opt_step:144880        lr:0.0003              clip_eps:0.2           entropy:0.7607
+2026-03-14 22:17:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.51     total_reward_ma:29.86  loss:-0.0116           fps:2.639e+04
+frame:7.43e+07         wall_t:2815            t:36280                epi:nan
+opt_step:145120        lr:0.0003              clip_eps:0.2           entropy:0.4974
+2026-03-14 22:17:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.29     total_reward_ma:29.90  loss:-0.01346          fps:2.64e+04
+frame:7.44e+07         wall_t:2818            t:36329                epi:nan
+opt_step:145280        lr:0.0003              clip_eps:0.2           entropy:0.759
+2026-03-14 22:17:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.10     total_reward_ma:29.93  loss:-0.01214          fps:2.64e+04
+frame:7.45e+07         wall_t:2822            t:36377                epi:nan
+opt_step:145440        lr:0.0003              clip_eps:0.2           entropy:0.6295
+2026-03-14 22:17:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.63     total_reward_ma:29.95  loss:-0.01324          fps:2.641e+04
+frame:7.46e+07         wall_t:2825            t:36426                epi:nan
+opt_step:145680        lr:0.0003              clip_eps:0.2           entropy:0.8147
+2026-03-14 22:17:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.28     total_reward_ma:29.98  loss:-0.01386          fps:2.641e+04
+frame:7.47e+07         wall_t:2828            t:36475                epi:nan
+opt_step:145840        lr:0.0003              clip_eps:0.2           entropy:0.7299
+2026-03-14 22:17:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.23     total_reward_ma:30.00  loss:-0.01362          fps:2.641e+04
+frame:7.48e+07         wall_t:2832            t:36524                epi:nan
+opt_step:146080        lr:0.0003              clip_eps:0.2           entropy:0.6561
+2026-03-14 22:17:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.95     total_reward_ma:30.04  loss:-0.01421          fps:2.642e+04
+frame:7.49e+07         wall_t:2835            t:36573                epi:nan
+opt_step:146240        lr:0.0003              clip_eps:0.2           entropy:0.8652
+2026-03-14 22:17:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.02     total_reward_ma:30.06  loss:-0.01325          fps:2.642e+04
+frame:7.50e+07         wall_t:2839            t:36622                epi:nan
+opt_step:146480        lr:0.0003              clip_eps:0.2           entropy:0.6711
+2026-03-14 22:17:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.04     total_reward_ma:30.08  loss:-0.01346          fps:2.642e+04
+frame:7.51e+07         wall_t:2843            t:36670                epi:nan
+opt_step:146640        lr:0.0003              clip_eps:0.2           entropy:0.9366
+2026-03-14 22:18:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.63     total_reward_ma:30.11  loss:-0.0112           fps:2.642e+04
+frame:7.52e+07         wall_t:2846            t:36719                epi:nan
+opt_step:146800        lr:0.0003              clip_eps:0.2           entropy:0.7507
+2026-03-14 22:18:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.28     total_reward_ma:30.15  loss:-0.01435          fps:2.642e+04
+frame:7.53e+07         wall_t:2850            t:36768                epi:nan
+opt_step:147040        lr:0.0003              clip_eps:0.2           entropy:0.73
+2026-03-14 22:18:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.85     total_reward_ma:30.18  loss:-0.01329          fps:2.643e+04
+frame:7.54e+07         wall_t:2853            t:36817                epi:nan
+opt_step:147200        lr:0.0003              clip_eps:0.2           entropy:0.7686
+2026-03-14 22:18:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.05     total_reward_ma:30.21  loss:-0.01207          fps:2.643e+04
+frame:7.55e+07         wall_t:2857            t:36866                epi:nan
+opt_step:147440        lr:0.0003              clip_eps:0.2           entropy:0.773
+2026-03-14 22:18:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.42     total_reward_ma:30.23  loss:-0.01331          fps:2.643e+04
+frame:7.56e+07         wall_t:2860            t:36915                epi:nan
+opt_step:147600        lr:0.0003              clip_eps:0.2           entropy:0.843
+2026-03-14 22:18:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.50     total_reward_ma:30.27  loss:-0.0134           fps:2.643e+04
+frame:7.57e+07         wall_t:2864            t:36963                epi:nan
+opt_step:147840        lr:0.0003              clip_eps:0.2           entropy:0.5949
+2026-03-14 22:18:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.53     total_reward_ma:30.31  loss:-0.01223          fps:2.643e+04
+frame:7.58e+07         wall_t:2868            t:37012                epi:nan
+opt_step:148000        lr:0.0003              clip_eps:0.2           entropy:0.7512
+2026-03-14 22:18:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.30     total_reward_ma:30.34  loss:-0.01243          fps:2.643e+04
+frame:7.59e+07         wall_t:2872            t:37061                epi:nan
+opt_step:148240        lr:0.0003              clip_eps:0.2           entropy:0.654
+2026-03-14 22:18:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.10     total_reward_ma:30.37  loss:-0.01425          fps:2.644e+04
+frame:7.60e+07         wall_t:2875            t:37110                epi:nan
+opt_step:148400        lr:0.0003              clip_eps:0.2           entropy:0.8151
+2026-03-14 22:18:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.07     total_reward_ma:30.39  loss:-0.01221          fps:2.644e+04
+frame:7.61e+07         wall_t:2878            t:37159                epi:nan
+opt_step:148560        lr:0.0003              clip_eps:0.2           entropy:0.8561
+2026-03-14 22:18:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.62     total_reward_ma:30.40  loss:-0.01327          fps:2.644e+04
+frame:7.62e+07         wall_t:2882            t:37208                epi:nan
+opt_step:148800        lr:0.0003              clip_eps:0.2           entropy:0.6692
+2026-03-14 22:18:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.57     total_reward_ma:30.41  loss:-0.01214          fps:2.645e+04
+frame:7.63e+07         wall_t:2885            t:37256                epi:nan
+opt_step:148960        lr:0.0003              clip_eps:0.2           entropy:0.7488
+2026-03-14 22:18:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.98     total_reward_ma:30.43  loss:-0.01296          fps:2.645e+04
+frame:7.64e+07         wall_t:2889            t:37305                epi:nan
+opt_step:149200        lr:0.0003              clip_eps:0.2           entropy:0.6227
+2026-03-14 22:18:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.39     total_reward_ma:30.44  loss:-0.0122           fps:2.645e+04
+frame:7.65e+07         wall_t:2892            t:37354                epi:nan
+opt_step:149360        lr:0.0003              clip_eps:0.2           entropy:0.603
+2026-03-14 22:18:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.39     total_reward_ma:30.46  loss:-0.01025          fps:2.644e+04
+frame:7.66e+07         wall_t:2897            t:37403                epi:nan
+opt_step:149600        lr:0.0003              clip_eps:0.2           entropy:0.6723
+2026-03-14 22:18:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.92     total_reward_ma:30.47  loss:-0.01332          fps:2.645e+04
+frame:7.67e+07         wall_t:2900            t:37452                epi:nan
+opt_step:149760        lr:0.0003              clip_eps:0.2           entropy:0.7668
+2026-03-14 22:19:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.63     total_reward_ma:30.48  loss:-0.01212          fps:2.645e+04
+frame:7.68e+07         wall_t:2904            t:37500                epi:nan
+opt_step:150000        lr:0.0003              clip_eps:0.2           entropy:0.5819
+2026-03-14 22:19:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.96     total_reward_ma:30.50  loss:-0.009437         fps:2.645e+04
+frame:7.69e+07         wall_t:2907            t:37549                epi:nan
+opt_step:150160        lr:0.0003              clip_eps:0.2           entropy:0.5164
+2026-03-14 22:19:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.51     total_reward_ma:30.57  loss:-0.01087          fps:2.646e+04
+frame:7.70e+07         wall_t:2910            t:37598                epi:nan
+opt_step:150320        lr:0.0003              clip_eps:0.2           entropy:0.4204
+2026-03-14 22:19:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.68     total_reward_ma:30.58  loss:-0.01213          fps:2.646e+04
+frame:7.71e+07         wall_t:2914            t:37647                epi:nan
+opt_step:150560        lr:0.0003              clip_eps:0.2           entropy:0.5569
+2026-03-14 22:19:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:7.72e+07         wall_t:2917            t:37696                epi:nan
+opt_step:150720        lr:0.0003              clip_eps:0.2           entropy:0.6356
+2026-03-14 22:19:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.39     total_reward_ma:30.62  loss:-0.01291          fps:2.646e+04
+frame:7.73e+07         wall_t:2921            t:37745                epi:nan
+opt_step:150960        lr:0.0003              clip_eps:0.2           entropy:0.5036
+2026-03-14 22:19:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.74     total_reward_ma:30.66  loss:-0.01415          fps:2.646e+04
+frame:7.74e+07         wall_t:2925            t:37793                epi:nan
+opt_step:151120        lr:0.0003              clip_eps:0.2           entropy:0.5826
+2026-03-14 22:19:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.47     total_reward_ma:30.67  loss:-0.01411          fps:2.646e+04
+frame:7.75e+07         wall_t:2929            t:37842                epi:nan
+opt_step:151360        lr:0.0003              clip_eps:0.2           entropy:0.4468
+2026-03-14 22:19:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.53     total_reward_ma:30.69  loss:-0.01262          fps:2.647e+04
+frame:7.76e+07         wall_t:2932            t:37891                epi:nan
+opt_step:151520        lr:0.0003              clip_eps:0.2           entropy:0.4877
+2026-03-14 22:19:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.60     total_reward_ma:30.71  loss:-0.01099          fps:2.646e+04
+frame:7.77e+07         wall_t:2936            t:37940                epi:nan
+opt_step:151760        lr:0.0003              clip_eps:0.2           entropy:0.5296
+2026-03-14 22:19:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.81     total_reward_ma:30.74  loss:-0.01009          fps:2.647e+04
+frame:7.78e+07         wall_t:2939            t:37989                epi:nan
+opt_step:151920        lr:0.0003              clip_eps:0.2           entropy:0.4644
+2026-03-14 22:19:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.11     total_reward_ma:30.75  loss:-0.01326          fps:2.648e+04
+frame:7.79e+07         wall_t:2942            t:38038                epi:nan
+opt_step:152080        lr:0.0003              clip_eps:0.2           entropy:0.4961
+2026-03-14 22:19:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.34     total_reward_ma:30.78  loss:-0.01221          fps:2.648e+04
+frame:7.80e+07         wall_t:2946            t:38086                epi:nan
+opt_step:152320        lr:0.0003              clip_eps:0.2           entropy:0.4886
+2026-03-14 22:19:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.98     total_reward_ma:30.80  loss:-0.01188          fps:2.648e+04
+frame:7.81e+07         wall_t:2949            t:38135                epi:nan
+opt_step:152480        lr:0.0003              clip_eps:0.2           entropy:0.5304
+2026-03-14 22:19:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.94     total_reward_ma:30.82  loss:-0.0113           fps:2.648e+04
+frame:7.82e+07         wall_t:2953            t:38184                epi:nan
+opt_step:152720        lr:0.0003              clip_eps:0.2           entropy:0.3278
+2026-03-14 22:19:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.16     total_reward_ma:30.87  loss:-0.0124           fps:2.649e+04
+frame:7.83e+07         wall_t:2956            t:38233                epi:nan
+opt_step:152880        lr:0.0003              clip_eps:0.2           entropy:0.3993
+2026-03-14 22:19:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.31     total_reward_ma:30.90  loss:-0.01029          fps:2.648e+04
+frame:7.84e+07         wall_t:2961            t:38282                epi:nan
+opt_step:153120        lr:0.0003              clip_eps:0.2           entropy:0.3913
+2026-03-14 22:20:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.28     total_reward_ma:30.93  loss:-0.01071          fps:2.649e+04
+frame:7.85e+07         wall_t:2964            t:38331                epi:nan
+opt_step:153280        lr:0.0003              clip_eps:0.2           entropy:0.3986
+2026-03-14 22:20:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.11     total_reward_ma:30.96  loss:-0.01129          fps:2.649e+04
+frame:7.86e+07         wall_t:2967            t:38379                epi:nan
+opt_step:153440        lr:0.0003              clip_eps:0.2           entropy:0.27
+2026-03-14 22:20:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.83     total_reward_ma:30.98  loss:-0.00785          fps:2.649e+04
+frame:7.87e+07         wall_t:2971            t:38428                epi:nan
+opt_step:153680        lr:0.0003              clip_eps:0.2           entropy:0.3447
+2026-03-14 22:20:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.45     total_reward_ma:30.99  loss:-0.01076          fps:2.65e+04
+frame:7.88e+07         wall_t:2974            t:38477                epi:nan
+opt_step:153840        lr:0.0003              clip_eps:0.2           entropy:0.2232
+2026-03-14 22:20:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.25     total_reward_ma:31.00  loss:-0.01098          fps:2.649e+04
+frame:7.89e+07         wall_t:2978            t:38526                epi:nan
+opt_step:154080        lr:0.0003              clip_eps:0.2           entropy:0.2373
+2026-03-14 22:20:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.29     total_reward_ma:31.03  loss:-0.01             fps:2.649e+04
+frame:7.90e+07         wall_t:2982            t:38575                epi:nan
+opt_step:154240        lr:0.0003              clip_eps:0.2           entropy:0.1908
+2026-03-14 22:20:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.41     total_reward_ma:31.07  loss:-0.01035          fps:2.649e+04
+frame:7.91e+07         wall_t:2986            t:38624                epi:nan
+opt_step:154480        lr:0.0003              clip_eps:0.2           entropy:0.1373
+2026-03-14 22:20:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.93     total_reward_ma:31.09  loss:-0.01094          fps:2.65e+04
+frame:7.92e+07         wall_t:2989            t:38672                epi:nan
+opt_step:154640        lr:0.0003              clip_eps:0.2           entropy:0.2715
+2026-03-14 22:20:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.21     total_reward_ma:31.13  loss:-0.008522         fps:2.65e+04
+frame:7.93e+07         wall_t:2993            t:38721                epi:nan
+opt_step:154880        lr:0.0003              clip_eps:0.2           entropy:0.1717
+2026-03-14 22:20:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.86     total_reward_ma:31.14  loss:-0.009673         fps:2.65e+04
+frame:7.94e+07         wall_t:2996            t:38770                epi:nan
+opt_step:155040        lr:0.0003              clip_eps:0.2           entropy:0.1593
+2026-03-14 22:20:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.75     total_reward_ma:31.14  loss:-0.01004          fps:2.651e+04
+frame:7.95e+07         wall_t:2999            t:38819                epi:nan
+opt_step:155200        lr:0.0003              clip_eps:0.2           entropy:0.2382
+2026-03-14 22:20:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.79     total_reward_ma:31.16  loss:-0.01024          fps:2.651e+04
+frame:7.96e+07         wall_t:3003            t:38868                epi:nan
+opt_step:155440        lr:0.0003              clip_eps:0.2           entropy:0.0822
+2026-03-14 22:20:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.23     total_reward_ma:31.18  loss:-0.009912         fps:2.651e+04
+frame:7.97e+07         wall_t:3006            t:38917                epi:nan
+opt_step:155600        lr:0.0003              clip_eps:0.2           entropy:0.1165
+2026-03-14 22:20:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.68     total_reward_ma:31.21  loss:-0.01012          fps:2.651e+04
+frame:7.98e+07         wall_t:3010            t:38965                epi:nan
+opt_step:155840        lr:0.0003              clip_eps:0.2           entropy:0.1754
+2026-03-14 22:20:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.47     total_reward_ma:31.25  loss:-0.0102           fps:2.651e+04
+frame:7.99e+07         wall_t:3014            t:39014                epi:nan
+opt_step:156000        lr:0.0003              clip_eps:0.2           entropy:0.09544
+2026-03-14 22:20:54 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.35     total_reward_ma:31.29  loss:-0.009155         fps:2.651e+04
+frame:8.00e+07         wall_t:3018            t:39063                epi:nan
+opt_step:156240        lr:0.0003              clip_eps:0.2           entropy:0.299
+2026-03-14 22:20:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.55     total_reward_ma:31.32  loss:-0.0118           fps:2.651e+04
+frame:8.01e+07         wall_t:3021            t:39112                epi:nan
+opt_step:156400        lr:0.0003              clip_eps:0.2           entropy:0.4204
+2026-03-14 22:21:01 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.48     total_reward_ma:31.32  loss:-0.01088          fps:2.651e+04
+frame:8.02e+07         wall_t:3025            t:39161                epi:nan
+opt_step:156640        lr:0.0003              clip_eps:0.2           entropy:0.2544
+2026-03-14 22:21:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.30     total_reward_ma:31.35  loss:-0.009914         fps:2.652e+04
+frame:8.03e+07         wall_t:3028            t:39209                epi:nan
+opt_step:156800        lr:0.0003              clip_eps:0.2           entropy:0.3393
+2026-03-14 22:21:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.91     total_reward_ma:31.34  loss:-0.0134           fps:2.652e+04
+frame:8.04e+07         wall_t:3032            t:39258                epi:nan
+opt_step:156960        lr:0.0003              clip_eps:0.2           entropy:0.2564
+2026-03-14 22:21:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.92     total_reward_ma:31.37  loss:-0.01179          fps:2.652e+04
+frame:8.05e+07         wall_t:3036            t:39307                epi:nan
+opt_step:157200        lr:0.0003              clip_eps:0.2           entropy:0.2682
+2026-03-14 22:21:15 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.11     total_reward_ma:31.38  loss:-0.009198         fps:2.652e+04
+frame:8.06e+07         wall_t:3039            t:39356                epi:nan
+opt_step:157360        lr:0.0003              clip_eps:0.2           entropy:0.3396
+2026-03-14 22:21:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.06     total_reward_ma:31.40  loss:-0.01293          fps:2.652e+04
+frame:8.07e+07         wall_t:3043            t:39405                epi:nan
+opt_step:157600        lr:0.0003              clip_eps:0.2           entropy:0.3957
+2026-03-14 22:21:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.42     total_reward_ma:31.43  loss:-0.01142          fps:2.652e+04
+frame:8.08e+07         wall_t:3047            t:39454                epi:nan
+opt_step:157760        lr:0.0003              clip_eps:0.2           entropy:0.3981
+2026-03-14 22:21:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.36     total_reward_ma:31.47  loss:-0.01085          fps:2.652e+04
+frame:8.09e+07         wall_t:3050            t:39502                epi:nan
+opt_step:158000        lr:0.0003              clip_eps:0.2           entropy:0.2802
+2026-03-14 22:21:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.37     total_reward_ma:31.49  loss:-0.009332         fps:2.652e+04
+frame:8.10e+07         wall_t:3054            t:39551                epi:nan
+opt_step:158160        lr:0.0003              clip_eps:0.2           entropy:0.2742
+2026-03-14 22:21:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.34     total_reward_ma:31.51  loss:-0.01084          fps:2.652e+04
+frame:8.11e+07         wall_t:3058            t:39600                epi:nan
+opt_step:158400        lr:0.0003              clip_eps:0.2           entropy:0.3562
+2026-03-14 22:21:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.41     total_reward_ma:31.54  loss:-0.01124          fps:2.653e+04
+frame:8.12e+07         wall_t:3061            t:39649                epi:nan
+opt_step:158560        lr:0.0003              clip_eps:0.2           entropy:0.4298
+2026-03-14 22:21:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.06     total_reward_ma:31.54  loss:-0.01144          fps:2.653e+04
+frame:8.13e+07         wall_t:3064            t:39698                epi:nan
+opt_step:158720        lr:0.0003              clip_eps:0.2           entropy:0.4256
+2026-03-14 22:21:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.14e+07         wall_t:3069            t:39747                epi:nan
+opt_step:158960        lr:0.0003              clip_eps:0.2           entropy:0.306
+2026-03-14 22:21:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.15e+07         wall_t:3072            t:39795                epi:nan
+opt_step:159120        lr:0.0003              clip_eps:0.2           entropy:0.2821
+2026-03-14 22:21:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.97     total_reward_ma:31.62  loss:-0.007669         fps:2.653e+04
+frame:8.16e+07         wall_t:3076            t:39844                epi:nan
+opt_step:159360        lr:0.0003              clip_eps:0.2           entropy:0.2383
+2026-03-14 22:21:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.17e+07         wall_t:3080            t:39893                epi:nan
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+2026-03-14 22:21:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.18e+07         wall_t:3083            t:39942                epi:nan
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+2026-03-14 22:22:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.19e+07         wall_t:3086            t:39991                epi:nan
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+2026-03-14 22:22:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.20e+07         wall_t:3090            t:40040                epi:nan
+opt_step:160160        lr:0.0003              clip_eps:0.2           entropy:0.3231
+2026-03-14 22:22:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.21e+07         wall_t:3093            t:40088                epi:nan
+opt_step:160320        lr:0.0003              clip_eps:0.2           entropy:0.3448
+2026-03-14 22:22:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.22e+07         wall_t:3096            t:40137                epi:nan
+opt_step:160480        lr:0.0003              clip_eps:0.2           entropy:0.3011
+2026-03-14 22:22:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.95     total_reward_ma:31.58  loss:-0.01181          fps:2.655e+04
+frame:8.23e+07         wall_t:3100            t:40186                epi:nan
+opt_step:160720        lr:0.0003              clip_eps:0.2           entropy:0.2567
+2026-03-14 22:22:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.40     total_reward_ma:31.57  loss:-0.01352          fps:2.656e+04
+frame:8.24e+07         wall_t:3103            t:40235                epi:nan
+opt_step:160880        lr:0.0003              clip_eps:0.2           entropy:0.3712
+2026-03-14 22:22:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.17     total_reward_ma:31.57  loss:-0.01128          fps:2.655e+04
+frame:8.25e+07         wall_t:3107            t:40284                epi:nan
+opt_step:161120        lr:0.0003              clip_eps:0.2           entropy:0.3712
+2026-03-14 22:22:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.40     total_reward_ma:31.56  loss:-0.01205          fps:2.656e+04
+frame:8.26e+07         wall_t:3110            t:40333                epi:nan
+opt_step:161280        lr:0.0003              clip_eps:0.2           entropy:0.415
+2026-03-14 22:22:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.14     total_reward_ma:31.56  loss:-0.01138          fps:2.656e+04
+frame:8.27e+07         wall_t:3114            t:40381                epi:nan
+opt_step:161520        lr:0.0003              clip_eps:0.2           entropy:0.4625
+2026-03-14 22:22:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.83     total_reward_ma:31.56  loss:-0.01223          fps:2.656e+04
+frame:8.28e+07         wall_t:3117            t:40430                epi:nan
+opt_step:161680        lr:0.0003              clip_eps:0.2           entropy:0.3193
+2026-03-14 22:22:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.57     total_reward_ma:31.58  loss:-0.01086          fps:2.656e+04
+frame:8.29e+07         wall_t:3121            t:40479                epi:nan
+opt_step:161840        lr:0.0003              clip_eps:0.2           entropy:0.2432
+2026-03-14 22:22:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.56     total_reward_ma:31.57  loss:-0.01058          fps:2.656e+04
+frame:8.30e+07         wall_t:3125            t:40528                epi:nan
+opt_step:162080        lr:0.0003              clip_eps:0.2           entropy:0.3962
+2026-03-14 22:22:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.99     total_reward_ma:31.60  loss:-0.01154          fps:2.657e+04
+frame:8.31e+07         wall_t:3128            t:40577                epi:nan
+opt_step:162240        lr:0.0003              clip_eps:0.2           entropy:0.3037
+2026-03-14 22:22:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.70     total_reward_ma:31.59  loss:-0.01175          fps:2.656e+04
+frame:8.32e+07         wall_t:3132            t:40625                epi:nan
+opt_step:162480        lr:0.0003              clip_eps:0.2           entropy:0.5329
+2026-03-14 22:22:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.66     total_reward_ma:31.59  loss:-0.0108           fps:2.657e+04
+frame:8.33e+07         wall_t:3135            t:40674                epi:nan
+opt_step:162640        lr:0.0003              clip_eps:0.2           entropy:0.352
+2026-03-14 22:22:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.46     total_reward_ma:31.61  loss:-0.01277          fps:2.657e+04
+frame:8.34e+07         wall_t:3139            t:40723                epi:nan
+opt_step:162880        lr:0.0003              clip_eps:0.2           entropy:0.5322
+2026-03-14 22:22:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.64     total_reward_ma:31.61  loss:-0.01232          fps:2.658e+04
+frame:8.35e+07         wall_t:3142            t:40772                epi:nan
+opt_step:163040        lr:0.0003              clip_eps:0.2           entropy:0.5166
+2026-03-14 22:23:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.11     total_reward_ma:31.59  loss:-0.01133          fps:2.657e+04
+frame:8.36e+07         wall_t:3146            t:40821                epi:nan
+opt_step:163280        lr:0.0003              clip_eps:0.2           entropy:0.4499
+2026-03-14 22:23:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.64     total_reward_ma:31.60  loss:-0.01354          fps:2.658e+04
+frame:8.37e+07         wall_t:3149            t:40870                epi:nan
+opt_step:163440        lr:0.0003              clip_eps:0.2           entropy:0.552
+2026-03-14 22:23:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.53     total_reward_ma:31.63  loss:-0.01094          fps:2.659e+04
+frame:8.38e+07         wall_t:3152            t:40918                epi:nan
+opt_step:163600        lr:0.0003              clip_eps:0.2           entropy:0.6288
+2026-03-14 22:23:12 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.57     total_reward_ma:31.66  loss:-0.01075          fps:2.658e+04
+frame:8.39e+07         wall_t:3156            t:40967                epi:nan
+opt_step:163840        lr:0.0003              clip_eps:0.2           entropy:0.4246
+2026-03-14 22:23:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.34     total_reward_ma:31.69  loss:-0.01336          fps:2.658e+04
+frame:8.40e+07         wall_t:3160            t:41016                epi:nan
+opt_step:164000        lr:0.0003              clip_eps:0.2           entropy:0.5244
+2026-03-14 22:23:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.93     total_reward_ma:31.68  loss:-0.01256          fps:2.659e+04
+frame:8.41e+07         wall_t:3163            t:41065                epi:nan
+opt_step:164240        lr:0.0003              clip_eps:0.2           entropy:0.4088
+2026-03-14 22:23:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.75     total_reward_ma:31.70  loss:-0.01069          fps:2.659e+04
+frame:8.42e+07         wall_t:3167            t:41114                epi:nan
+opt_step:164400        lr:0.0003              clip_eps:0.2           entropy:0.5146
+2026-03-14 22:23:27 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.40     total_reward_ma:31.72  loss:-0.01215          fps:2.659e+04
+frame:8.43e+07         wall_t:3171            t:41163                epi:nan
+opt_step:164640        lr:0.0003              clip_eps:0.2           entropy:0.5518
+2026-03-14 22:23:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.07     total_reward_ma:31.73  loss:-0.01116          fps:2.659e+04
+frame:8.44e+07         wall_t:3174            t:41211                epi:nan
+opt_step:164800        lr:0.0003              clip_eps:0.2           entropy:0.689
+2026-03-14 22:23:34 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.88     total_reward_ma:31.74  loss:-0.01226          fps:2.659e+04
+frame:8.45e+07         wall_t:3178            t:41260                epi:nan
+opt_step:165040        lr:0.0003              clip_eps:0.2           entropy:0.5156
+2026-03-14 22:23:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:34.26     total_reward_ma:31.78  loss:-0.01173          fps:2.66e+04
+frame:8.46e+07         wall_t:3181            t:41309                epi:nan
+opt_step:165200        lr:0.0003              clip_eps:0.2           entropy:0.4285
+2026-03-14 22:23:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.23     total_reward_ma:31.78  loss:-0.01155          fps:2.66e+04
+frame:8.47e+07         wall_t:3184            t:41358                epi:nan
+opt_step:165360        lr:0.0003              clip_eps:0.2           entropy:0.711
+2026-03-14 22:23:44 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.16     total_reward_ma:31.79  loss:-0.01234          fps:2.66e+04
+frame:8.48e+07         wall_t:3188            t:41407                epi:nan
+opt_step:165600        lr:0.0003              clip_eps:0.2           entropy:0.4545
+2026-03-14 22:23:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.07     total_reward_ma:31.78  loss:-0.01362          fps:2.66e+04
+frame:8.49e+07         wall_t:3192            t:41456                epi:nan
+opt_step:165760        lr:0.0003              clip_eps:0.2           entropy:0.6771
+2026-03-14 22:23:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.77     total_reward_ma:31.80  loss:-0.01094          fps:2.66e+04
+frame:8.50e+07         wall_t:3196            t:41504                epi:nan
+opt_step:166000        lr:0.0003              clip_eps:0.2           entropy:0.5719
+2026-03-14 22:23:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.65     total_reward_ma:31.84  loss:-0.01215          fps:2.66e+04
+frame:8.51e+07         wall_t:3199            t:41553                epi:nan
+opt_step:166160        lr:0.0003              clip_eps:0.2           entropy:0.641
+2026-03-14 22:23:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.59     total_reward_ma:31.84  loss:-0.01217          fps:2.66e+04
+frame:8.52e+07         wall_t:3203            t:41602                epi:nan
+opt_step:166400        lr:0.0003              clip_eps:0.2           entropy:0.6036
+2026-03-14 22:24:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.08     total_reward_ma:31.83  loss:-0.008464         fps:2.66e+04
+frame:8.53e+07         wall_t:3207            t:41651                epi:nan
+opt_step:166560        lr:0.0003              clip_eps:0.2           entropy:0.6464
+2026-03-14 22:24:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.72     total_reward_ma:31.81  loss:-0.01202          fps:2.66e+04
+frame:8.54e+07         wall_t:3211            t:41700                epi:nan
+opt_step:166800        lr:0.0003              clip_eps:0.2           entropy:0.628
+2026-03-14 22:24:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.37     total_reward_ma:31.84  loss:-0.01179          fps:2.66e+04
+frame:8.55e+07         wall_t:3214            t:41749                epi:nan
+opt_step:166960        lr:0.0003              clip_eps:0.2           entropy:0.5485
+2026-03-14 22:24:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.81     total_reward_ma:31.83  loss:-0.01285          fps:2.661e+04
+frame:8.56e+07         wall_t:3217            t:41797                epi:nan
+opt_step:167120        lr:0.0003              clip_eps:0.2           entropy:0.6621
+2026-03-14 22:24:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.17     total_reward_ma:31.81  loss:-0.0137           fps:2.661e+04
+frame:8.57e+07         wall_t:3221            t:41846                epi:nan
+opt_step:167360        lr:0.0003              clip_eps:0.2           entropy:0.6762
+2026-03-14 22:24:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.70     total_reward_ma:31.84  loss:-0.01245          fps:2.661e+04
+frame:8.58e+07         wall_t:3224            t:41895                epi:nan
+opt_step:167520        lr:0.0003              clip_eps:0.2           entropy:0.5724
+2026-03-14 22:24:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.25     total_reward_ma:31.84  loss:-0.009068         fps:2.66e+04
+frame:8.59e+07         wall_t:3229            t:41944                epi:nan
+opt_step:167760        lr:0.0003              clip_eps:0.2           entropy:0.7478
+2026-03-14 22:24:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.96     total_reward_ma:31.83  loss:-0.01175          fps:2.661e+04
+frame:8.60e+07         wall_t:3232            t:41993                epi:nan
+opt_step:167920        lr:0.0003              clip_eps:0.2           entropy:0.5909
+2026-03-14 22:24:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.78     total_reward_ma:31.84  loss:-0.01253          fps:2.661e+04
+frame:8.61e+07         wall_t:3236            t:42042                epi:nan
+opt_step:168160        lr:0.0003              clip_eps:0.2           entropy:0.6712
+2026-03-14 22:24:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:34.33     total_reward_ma:31.88  loss:-0.0131           fps:2.661e+04
+frame:8.62e+07         wall_t:3239            t:42090                epi:nan
+opt_step:168320        lr:0.0003              clip_eps:0.2           entropy:0.5259
+2026-03-14 22:24:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.08     total_reward_ma:31.91  loss:-0.01139          fps:2.661e+04
+frame:8.63e+07         wall_t:3243            t:42139                epi:nan
+opt_step:168480        lr:0.0003              clip_eps:0.2           entropy:0.6394
+2026-03-14 22:24:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.85     total_reward_ma:31.91  loss:-0.01279          fps:2.661e+04
+frame:8.64e+07         wall_t:3247            t:42188                epi:nan
+opt_step:168720        lr:0.0003              clip_eps:0.2           entropy:0.6888
+2026-03-14 22:24:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.08     total_reward_ma:31.92  loss:-0.0135           fps:2.662e+04
+frame:8.65e+07         wall_t:3250            t:42237                epi:nan
+opt_step:168880        lr:0.0003              clip_eps:0.2           entropy:0.7221
+2026-03-14 22:24:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.66e+07         wall_t:3254            t:42286                epi:nan
+opt_step:169120        lr:0.0003              clip_eps:0.2           entropy:0.7091
+2026-03-14 22:24:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.67e+07         wall_t:3257            t:42334                epi:nan
+opt_step:169280        lr:0.0003              clip_eps:0.2           entropy:0.6223
+2026-03-14 22:24:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.68e+07         wall_t:3261            t:42383                epi:nan
+opt_step:169520        lr:0.0003              clip_eps:0.2           entropy:0.6714
+2026-03-14 22:25:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.69e+07         wall_t:3264            t:42432                epi:nan
+opt_step:169680        lr:0.0003              clip_eps:0.2           entropy:0.6538
+2026-03-14 22:25:05 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.70e+07         wall_t:3268            t:42481                epi:nan
+opt_step:169920        lr:0.0003              clip_eps:0.2           entropy:0.6539
+2026-03-14 22:25:08 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.45     total_reward_ma:31.95  loss:-0.01378          fps:2.662e+04
+frame:8.71e+07         wall_t:3272            t:42530                epi:nan
+opt_step:170080        lr:0.0003              clip_eps:0.2           entropy:0.6342
+2026-03-14 22:25:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.72e+07         wall_t:3275            t:42579                epi:nan
+opt_step:170240        lr:0.0003              clip_eps:0.2           entropy:0.5033
+2026-03-14 22:25:16 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:8.73e+07         wall_t:3279            t:42627                epi:nan
+opt_step:170480        lr:0.0003              clip_eps:0.2           entropy:0.5535
+2026-03-14 22:25:19 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.05     total_reward_ma:32.02  loss:-0.01208          fps:2.662e+04
+frame:8.74e+07         wall_t:3283            t:42676                epi:nan
+opt_step:170640        lr:0.0003              clip_eps:0.2           entropy:0.4478
+2026-03-14 22:25:23 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.42     total_reward_ma:32.04  loss:-0.01101          fps:2.662e+04
+frame:8.75e+07         wall_t:3287            t:42725                epi:nan
+opt_step:170880        lr:0.0003              clip_eps:0.2           entropy:0.4917
+2026-03-14 22:25:26 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.04     total_reward_ma:32.06  loss:-0.01128          fps:2.663e+04
+frame:8.76e+07         wall_t:3290            t:42774                epi:nan
+opt_step:171040        lr:0.0003              clip_eps:0.2           entropy:0.4888
+2026-03-14 22:25:30 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.06     total_reward_ma:32.08  loss:-0.01246          fps:2.662e+04
+frame:8.77e+07         wall_t:3294            t:42823                epi:nan
+opt_step:171280        lr:0.0003              clip_eps:0.2           entropy:0.4303
+2026-03-14 22:25:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.27     total_reward_ma:32.12  loss:-0.01288          fps:2.663e+04
+frame:8.78e+07         wall_t:3297            t:42872                epi:nan
+opt_step:171440        lr:0.0003              clip_eps:0.2           entropy:0.4059
+2026-03-14 22:25:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.63     total_reward_ma:32.13  loss:-0.01138          fps:2.662e+04
+frame:8.79e+07         wall_t:3302            t:42920                epi:nan
+opt_step:171680        lr:0.0003              clip_eps:0.2           entropy:0.4527
+2026-03-14 22:25:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.46     total_reward_ma:32.13  loss:-0.01334          fps:2.663e+04
+frame:8.80e+07         wall_t:3305            t:42969                epi:nan
+opt_step:171840        lr:0.0003              clip_eps:0.2           entropy:0.4812
+2026-03-14 22:25:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.42     total_reward_ma:32.14  loss:-0.01041          fps:2.663e+04
+frame:8.81e+07         wall_t:3308            t:43018                epi:nan
+opt_step:172000        lr:0.0003              clip_eps:0.2           entropy:0.3635
+2026-03-14 22:25:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.95     total_reward_ma:32.15  loss:-0.01037          fps:2.663e+04
+frame:8.82e+07         wall_t:3312            t:43067                epi:nan
+opt_step:172240        lr:0.0003              clip_eps:0.2           entropy:0.4383
+2026-03-14 22:25:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.07     total_reward_ma:32.14  loss:-0.01136          fps:2.664e+04
+frame:8.83e+07         wall_t:3315            t:43116                epi:nan
+opt_step:172400        lr:0.0003              clip_eps:0.2           entropy:0.4262
+2026-03-14 22:25:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.40     total_reward_ma:32.15  loss:-0.01123          fps:2.664e+04
+frame:8.84e+07         wall_t:3319            t:43165                epi:nan
+opt_step:172640        lr:0.0003              clip_eps:0.2           entropy:0.3815
+2026-03-14 22:25:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.27     total_reward_ma:32.15  loss:-0.01265          fps:2.664e+04
+frame:8.85e+07         wall_t:3322            t:43213                epi:nan
+opt_step:172800        lr:0.0003              clip_eps:0.2           entropy:0.58
+2026-03-14 22:26:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.06     total_reward_ma:32.15  loss:-0.01128          fps:2.664e+04
+frame:8.86e+07         wall_t:3326            t:43262                epi:nan
+opt_step:173040        lr:0.0003              clip_eps:0.2           entropy:0.4385
+2026-03-14 22:26:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.87     total_reward_ma:32.17  loss:-0.01204          fps:2.664e+04
+frame:8.87e+07         wall_t:3330            t:43311                epi:nan
+opt_step:173200        lr:0.0003              clip_eps:0.2           entropy:0.387
+2026-03-14 22:26:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:35.13     total_reward_ma:32.20  loss:-0.0127           fps:2.664e+04
+frame:8.88e+07         wall_t:3334            t:43360                epi:nan
+opt_step:173440        lr:0.0003              clip_eps:0.2           entropy:0.3862
+2026-03-14 22:26:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:34.14     total_reward_ma:32.23  loss:-0.01242          fps:2.664e+04
+frame:8.89e+07         wall_t:3337            t:43409                epi:nan
+opt_step:173600        lr:0.0003              clip_eps:0.2           entropy:0.3536
+2026-03-14 22:26:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.05     total_reward_ma:32.22  loss:-0.009745         fps:2.664e+04
+frame:8.90e+07         wall_t:3341            t:43458                epi:nan
+opt_step:173760        lr:0.0003              clip_eps:0.2           entropy:0.5452
+2026-03-14 22:26:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.34     total_reward_ma:32.19  loss:-0.01138          fps:2.664e+04
+frame:8.91e+07         wall_t:3345            t:43506                epi:nan
+opt_step:174000        lr:0.0003              clip_eps:0.2           entropy:0.4634
+2026-03-14 22:26:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.13     total_reward_ma:32.18  loss:-0.01088          fps:2.664e+04
+frame:8.92e+07         wall_t:3348            t:43555                epi:nan
+opt_step:174160        lr:0.0003              clip_eps:0.2           entropy:0.2716
+2026-03-14 22:26:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.19     total_reward_ma:32.18  loss:-0.01065          fps:2.664e+04
+frame:8.93e+07         wall_t:3352            t:43604                epi:nan
+opt_step:174400        lr:0.0003              clip_eps:0.2           entropy:0.2826
+2026-03-14 22:26:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.29     total_reward_ma:32.18  loss:-0.01263          fps:2.665e+04
+frame:8.94e+07         wall_t:3355            t:43653                epi:nan
+opt_step:174560        lr:0.0003              clip_eps:0.2           entropy:0.3683
+2026-03-14 22:26:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.18     total_reward_ma:32.19  loss:-0.01074          fps:2.665e+04
+frame:8.95e+07         wall_t:3359            t:43702                epi:nan
+opt_step:174800        lr:0.0003              clip_eps:0.2           entropy:0.3537
+2026-03-14 22:26:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.71     total_reward_ma:32.20  loss:-0.01168          fps:2.665e+04
+frame:8.96e+07         wall_t:3362            t:43750                epi:nan
+opt_step:174960        lr:0.0003              clip_eps:0.2           entropy:0.2073
+2026-03-14 22:26:41 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.36     total_reward_ma:32.21  loss:-0.01152          fps:2.666e+04
+frame:8.97e+07         wall_t:3365            t:43799                epi:nan
+opt_step:175120        lr:0.0003              clip_eps:0.2           entropy:0.2289
+2026-03-14 22:26:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.94     total_reward_ma:32.21  loss:-0.01214          fps:2.666e+04
+frame:8.98e+07         wall_t:3369            t:43848                epi:nan
+opt_step:175360        lr:0.0003              clip_eps:0.2           entropy:0.2716
+2026-03-14 22:26:48 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.80     total_reward_ma:32.22  loss:-0.01033          fps:2.666e+04
+frame:8.99e+07         wall_t:3372            t:43897                epi:nan
+opt_step:175520        lr:0.0003              clip_eps:0.2           entropy:0.3071
+2026-03-14 22:26:52 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.91     total_reward_ma:32.21  loss:-0.009522         fps:2.666e+04
+frame:9.00e+07         wall_t:3376            t:43946                epi:nan
+opt_step:175760        lr:0.0003              clip_eps:0.2           entropy:0.1943
+2026-03-14 22:26:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.66     total_reward_ma:32.20  loss:-0.009877         fps:2.667e+04
+frame:9.01e+07         wall_t:3379            t:43995                epi:nan
+opt_step:175920        lr:0.0003              clip_eps:0.2           entropy:0.3372
+2026-03-14 22:26:59 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.95     total_reward_ma:32.21  loss:-0.01109          fps:2.666e+04
+frame:9.02e+07         wall_t:3383            t:44043                epi:nan
+opt_step:176160        lr:0.0003              clip_eps:0.2           entropy:0.3073
+2026-03-14 22:27:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.02     total_reward_ma:32.19  loss:-0.01091          fps:2.667e+04
+frame:9.03e+07         wall_t:3386            t:44092                epi:nan
+opt_step:176320        lr:0.0003              clip_eps:0.2           entropy:0.3468
+2026-03-14 22:27:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.14     total_reward_ma:32.20  loss:-0.01176          fps:2.667e+04
+frame:9.04e+07         wall_t:3390            t:44141                epi:nan
+opt_step:176560        lr:0.0003              clip_eps:0.2           entropy:0.3589
+2026-03-14 22:27:09 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.12     total_reward_ma:32.19  loss:-0.0103           fps:2.667e+04
+frame:9.05e+07         wall_t:3393            t:44190                epi:nan
+opt_step:176720        lr:0.0003              clip_eps:0.2           entropy:0.5283
+2026-03-14 22:27:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.62     total_reward_ma:32.20  loss:-0.01153          fps:2.667e+04
+frame:9.06e+07         wall_t:3397            t:44239                epi:nan
+opt_step:176880        lr:0.0003              clip_eps:0.2           entropy:0.3824
+2026-03-14 22:27:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.37     total_reward_ma:32.19  loss:-0.01335          fps:2.667e+04
+frame:9.07e+07         wall_t:3401            t:44288                epi:nan
+opt_step:177120        lr:0.0003              clip_eps:0.2           entropy:0.6206
+2026-03-14 22:27:20 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.64     total_reward_ma:32.18  loss:-0.01354          fps:2.667e+04
+frame:9.08e+07         wall_t:3404            t:44336                epi:nan
+opt_step:177280        lr:0.0003              clip_eps:0.2           entropy:0.3686
+2026-03-14 22:27:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.79     total_reward_ma:32.19  loss:-0.009864         fps:2.667e+04
+frame:9.09e+07         wall_t:3408            t:44385                epi:nan
+opt_step:177520        lr:0.0003              clip_eps:0.2           entropy:0.2052
+2026-03-14 22:27:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.48     total_reward_ma:32.18  loss:-0.009544         fps:2.668e+04
+frame:9.10e+07         wall_t:3411            t:44434                epi:nan
+opt_step:177680        lr:0.0003              clip_eps:0.2           entropy:0.4997
+2026-03-14 22:27:32 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.13     total_reward_ma:32.18  loss:-0.01075          fps:2.668e+04
+frame:9.11e+07         wall_t:3415            t:44483                epi:nan
+opt_step:177920        lr:0.0003              clip_eps:0.2           entropy:0.3618
+2026-03-14 22:27:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.23     total_reward_ma:32.15  loss:-0.01104          fps:2.667e+04
+frame:9.12e+07         wall_t:3419            t:44532                epi:nan
+opt_step:178080        lr:0.0003              clip_eps:0.2           entropy:0.5934
+2026-03-14 22:27:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.49     total_reward_ma:32.13  loss:-0.01042          fps:2.667e+04
+frame:9.13e+07         wall_t:3423            t:44581                epi:nan
+opt_step:178320        lr:0.0003              clip_eps:0.2           entropy:0.5947
+2026-03-14 22:27:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.26     total_reward_ma:32.11  loss:-0.01266          fps:2.668e+04
+frame:9.14e+07         wall_t:3426            t:44629                epi:nan
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+2026-03-14 22:27:45 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.22     total_reward_ma:32.10  loss:-0.01192          fps:2.668e+04
+frame:9.15e+07         wall_t:3429            t:44678                epi:nan
+opt_step:178640        lr:0.0003              clip_eps:0.2           entropy:0.6412
+2026-03-14 22:27:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.16e+07         wall_t:3433            t:44727                epi:nan
+opt_step:178880        lr:0.0003              clip_eps:0.2           entropy:0.5955
+2026-03-14 22:27:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.17e+07         wall_t:3436            t:44776                epi:nan
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+2026-03-14 22:27:57 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+frame:9.18e+07         wall_t:3440            t:44825                epi:nan
+opt_step:179280        lr:0.0003              clip_eps:0.2           entropy:0.5138
+2026-03-14 22:28:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.20     total_reward_ma:32.12  loss:-0.01008          fps:2.668e+04
+frame:9.19e+07         wall_t:3444            t:44874                epi:nan
+opt_step:179440        lr:0.0003              clip_eps:0.2           entropy:0.4909
+2026-03-14 22:28:04 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.86     total_reward_ma:32.11  loss:-0.01099          fps:2.668e+04
+frame:9.20e+07         wall_t:3448            t:44922                epi:nan
+opt_step:179680        lr:0.0003              clip_eps:0.2           entropy:0.4637
+2026-03-14 22:28:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.05     total_reward_ma:32.10  loss:-0.008585         fps:2.669e+04
+frame:9.21e+07         wall_t:3451            t:44971                epi:nan
+opt_step:179840        lr:0.0003              clip_eps:0.2           entropy:0.397
+2026-03-14 22:28:11 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.31     total_reward_ma:32.09  loss:-0.01199          fps:2.669e+04
+frame:9.22e+07         wall_t:3455            t:45020                epi:nan
+opt_step:180080        lr:0.0003              clip_eps:0.2           entropy:0.5731
+2026-03-14 22:28:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.48     total_reward_ma:32.07  loss:-0.01058          fps:2.669e+04
+frame:9.23e+07         wall_t:3458            t:45069                epi:nan
+opt_step:180240        lr:0.0003              clip_eps:0.2           entropy:0.5815
+2026-03-14 22:28:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.45     total_reward_ma:32.07  loss:-0.01006          fps:2.669e+04
+frame:9.24e+07         wall_t:3462            t:45118                epi:nan
+opt_step:180400        lr:0.0003              clip_eps:0.2           entropy:0.3844
+2026-03-14 22:28:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.81     total_reward_ma:32.08  loss:-0.01116          fps:2.669e+04
+frame:9.25e+07         wall_t:3466            t:45167                epi:nan
+opt_step:180640        lr:0.0003              clip_eps:0.2           entropy:0.611
+2026-03-14 22:28:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.64     total_reward_ma:32.09  loss:-0.01148          fps:2.669e+04
+frame:9.26e+07         wall_t:3469            t:45215                epi:nan
+opt_step:180800        lr:0.0003              clip_eps:0.2           entropy:0.3874
+2026-03-14 22:28:29 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.39     total_reward_ma:32.07  loss:-0.01135          fps:2.669e+04
+frame:9.27e+07         wall_t:3473            t:45264                epi:nan
+opt_step:181040        lr:0.0003              clip_eps:0.2           entropy:0.5931
+2026-03-14 22:28:33 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.52     total_reward_ma:32.08  loss:-0.01002          fps:2.669e+04
+frame:9.28e+07         wall_t:3477            t:45313                epi:nan
+opt_step:181200        lr:0.0003              clip_eps:0.2           entropy:0.3822
+2026-03-14 22:28:37 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.37     total_reward_ma:32.06  loss:-0.01077          fps:2.669e+04
+frame:9.29e+07         wall_t:3481            t:45362                epi:nan
+opt_step:181440        lr:0.0003              clip_eps:0.2           entropy:0.4859
+2026-03-14 22:28:40 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:28.07     total_reward_ma:32.03  loss:-0.009737         fps:2.669e+04
+frame:9.30e+07         wall_t:3484            t:45411                epi:nan
+opt_step:181600        lr:0.0003              clip_eps:0.2           entropy:0.5205
+2026-03-14 22:28:43 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.89     total_reward_ma:32.02  loss:-0.01014          fps:2.67e+04
+frame:9.31e+07         wall_t:3487            t:45459                epi:nan
+opt_step:181760        lr:0.0003              clip_eps:0.2           entropy:0.5408
+2026-03-14 22:28:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.00     total_reward_ma:32.02  loss:-0.01312          fps:2.67e+04
+frame:9.32e+07         wall_t:3491            t:45508                epi:nan
+opt_step:182000        lr:0.0003              clip_eps:0.2           entropy:0.7339
+2026-03-14 22:28:51 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:29.95     total_reward_ma:32.02  loss:-0.0124           fps:2.67e+04
+frame:9.33e+07         wall_t:3495            t:45557                epi:nan
+opt_step:182160        lr:0.0003              clip_eps:0.2           entropy:0.7114
+2026-03-14 22:28:55 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.25     total_reward_ma:32.01  loss:-0.01287          fps:2.669e+04
+frame:9.34e+07         wall_t:3499            t:45606                epi:nan
+opt_step:182400        lr:0.0003              clip_eps:0.2           entropy:0.7278
+2026-03-14 22:28:58 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.42     total_reward_ma:32.01  loss:-0.01285          fps:2.67e+04
+frame:9.35e+07         wall_t:3502            t:45655                epi:nan
+opt_step:182560        lr:0.0003              clip_eps:0.2           entropy:0.6928
+2026-03-14 22:29:02 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.26     total_reward_ma:32.02  loss:-0.01108          fps:2.67e+04
+frame:9.36e+07         wall_t:3506            t:45704                epi:nan
+opt_step:182800        lr:0.0003              clip_eps:0.2           entropy:0.5495
+2026-03-14 22:29:06 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.11     total_reward_ma:32.02  loss:-0.01126          fps:2.67e+04
+frame:9.37e+07         wall_t:3509            t:45752                epi:nan
+opt_step:182960        lr:0.0003              clip_eps:0.2           entropy:0.6126
+2026-03-14 22:29:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.70     total_reward_ma:32.00  loss:-0.01305          fps:2.669e+04
+frame:9.38e+07         wall_t:3514            t:45801                epi:nan
+opt_step:183200        lr:0.0003              clip_eps:0.2           entropy:0.5016
+2026-03-14 22:29:13 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.99     total_reward_ma:31.99  loss:-0.01255          fps:2.67e+04
+frame:9.39e+07         wall_t:3517            t:45850                epi:nan
+opt_step:183360        lr:0.0003              clip_eps:0.2           entropy:0.431
+2026-03-14 22:29:17 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.50     total_reward_ma:31.98  loss:-0.01239          fps:2.67e+04
+frame:9.40e+07         wall_t:3521            t:45899                epi:nan
+opt_step:183520        lr:0.0003              clip_eps:0.2           entropy:0.61
+2026-03-14 22:29:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.87     total_reward_ma:32.00  loss:-0.0114           fps:2.67e+04
+frame:9.41e+07         wall_t:3525            t:45948                epi:nan
+opt_step:183760        lr:0.0003              clip_eps:0.2           entropy:0.5347
+2026-03-14 22:29:24 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.19     total_reward_ma:31.99  loss:-0.01131          fps:2.67e+04
+frame:9.42e+07         wall_t:3528            t:45997                epi:nan
+opt_step:183920        lr:0.0003              clip_eps:0.2           entropy:0.4378
+2026-03-14 22:29:28 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.77     total_reward_ma:31.97  loss:-0.01095          fps:2.67e+04
+frame:9.43e+07         wall_t:3532            t:46045                epi:nan
+opt_step:184160        lr:0.0003              clip_eps:0.2           entropy:0.5401
+2026-03-14 22:29:31 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:30.28     total_reward_ma:31.96  loss:-0.01225          fps:2.67e+04
+frame:9.44e+07         wall_t:3535            t:46094                epi:nan
+opt_step:184320        lr:0.0003              clip_eps:0.2           entropy:0.557
+2026-03-14 22:29:35 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.90     total_reward_ma:31.96  loss:-0.01117          fps:2.67e+04
+frame:9.45e+07         wall_t:3539            t:46143                epi:nan
+opt_step:184560        lr:0.0003              clip_eps:0.2           entropy:0.3783
+2026-03-14 22:29:38 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.67     total_reward_ma:31.94  loss:-0.009731         fps:2.671e+04
+frame:9.46e+07         wall_t:3542            t:46192                epi:nan
+opt_step:184720        lr:0.0003              clip_eps:0.2           entropy:0.3531
+2026-03-14 22:29:42 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.16     total_reward_ma:31.96  loss:-0.01253          fps:2.671e+04
+frame:9.47e+07         wall_t:3546            t:46241                epi:nan
+opt_step:184960        lr:0.0003              clip_eps:0.2           entropy:0.4206
+2026-03-14 22:29:46 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.23     total_reward_ma:31.96  loss:-0.01185          fps:2.67e+04
+frame:9.48e+07         wall_t:3550            t:46290                epi:nan
+opt_step:185120        lr:0.0003              clip_eps:0.2           entropy:0.4104
+2026-03-14 22:29:49 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.88     total_reward_ma:31.98  loss:-0.01101          fps:2.671e+04
+frame:9.49e+07         wall_t:3553            t:46338                epi:nan
+opt_step:185280        lr:0.0003              clip_eps:0.2           entropy:0.5431
+2026-03-14 22:29:53 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.51     total_reward_ma:31.99  loss:-0.0101           fps:2.671e+04
+frame:9.50e+07         wall_t:3557            t:46387                epi:nan
+opt_step:185520        lr:0.0003              clip_eps:0.2           entropy:0.465
+2026-03-14 22:29:56 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.41     total_reward_ma:31.97  loss:-0.012            fps:2.671e+04
+frame:9.51e+07         wall_t:3560            t:46436                epi:nan
+opt_step:185680        lr:0.0003              clip_eps:0.2           entropy:0.4993
+2026-03-14 22:30:00 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.25     total_reward_ma:31.98  loss:-0.01166          fps:2.671e+04
+frame:9.52e+07         wall_t:3564            t:46485                epi:nan
+opt_step:185920        lr:0.0003              clip_eps:0.2           entropy:0.3811
+2026-03-14 22:30:03 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.63     total_reward_ma:32.00  loss:-0.01335          fps:2.672e+04
+frame:9.53e+07         wall_t:3567            t:46534                epi:nan
+opt_step:186080        lr:0.0003              clip_eps:0.2           entropy:0.5847
+2026-03-14 22:30:07 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:31.56     total_reward_ma:31.99  loss:-0.01206          fps:2.672e+04
+frame:9.54e+07         wall_t:3571            t:46583                epi:nan
+opt_step:186320        lr:0.0003              clip_eps:0.2           entropy:0.5833
+2026-03-14 22:30:10 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.16     total_reward_ma:31.98  loss:-0.01157          fps:2.672e+04
+frame:9.55e+07         wall_t:3574            t:46631                epi:nan
+opt_step:186480        lr:0.0003              clip_eps:0.2           entropy:0.4342
+2026-03-14 22:30:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:32.04     total_reward_ma:31.99  loss:-0.01146          fps:2.672e+04
+frame:9.56e+07         wall_t:3578            t:46680                epi:nan
+opt_step:186720        lr:0.0003              clip_eps:0.2           entropy:0.4594
+2026-03-14 22:30:18 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
+total_reward:33.06     total_reward_ma:32.02  loss:-0.01321          fps:2.672e+04
+frame:9.57e+07         wall_t:3581            t:46729                epi:nan
+opt_step:186880        lr:0.0003              clip_eps:0.2           entropy:0.4317
+2026-03-14 22:30:21 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:30:39 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:31:14 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:31:22 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:31:25 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:32:47 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:32:50 | INFO | PID:1750 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s2 [train]
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+2026-03-14 22:32:51 | INFO | PID:1750 | slm_lab.lib.logger:info | Session 2 done
diff --git a/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s3.log b/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019/log/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_t0_s3.log
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