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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_df_train.csv b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cafd051cc87dba15ba4fe65922767db1e69ddb84
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_df_train.csv
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_eval.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..c19adb715766f2a29c69fed77f2f32bed7ae755a
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_eval.json
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_scalar_eval.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f93cf71ff6519722d8f4fd00f3986cceba7373
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_scalar_train.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f93cf71ff6519722d8f4fd00f3986cceba7373
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_scalar_train.json
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+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_train.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..c19adb715766f2a29c69fed77f2f32bed7ae755a
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s0_session_metrics_train.json
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_df_eval.csv b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fd1206713b8cce9d299b81956a2bf760604fd60
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_df_eval.csv
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_df_train.csv b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fd1206713b8cce9d299b81956a2bf760604fd60
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_df_train.csv
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_eval.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb1d4c4b6ba5d836a7e38cf0c50fbee01733f58
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_eval.json
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_scalar_eval.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1fa2b820575cae3d1a0f91b22a08fdbc89efa86
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_scalar_train.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1fa2b820575cae3d1a0f91b22a08fdbc89efa86
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_scalar_train.json
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+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_train.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb1d4c4b6ba5d836a7e38cf0c50fbee01733f58
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s1_session_metrics_train.json
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_df_eval.csv b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..267acecb89c07f9200490c4d0d4e3a1506257c25
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_df_eval.csv
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_df_train.csv b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..267acecb89c07f9200490c4d0d4e3a1506257c25
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_df_train.csv
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_eval.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b71c9f621df2468abf23ba244952bbb3f470865
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_eval.json
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_scalar_eval.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d00546c562812fd1b8b67e3991f555d25d3158
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_scalar_train.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d00546c562812fd1b8b67e3991f555d25d3158
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_train.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b71c9f621df2468abf23ba244952bbb3f470865
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s2_session_metrics_train.json
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_df_eval.csv b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b922016dbe12cf5ada8aa12ebe7734dd664da441
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_df_eval.csv
@@ -0,0 +1,201 @@
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_df_train.csv b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b922016dbe12cf5ada8aa12ebe7734dd664da441
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_df_train.csv
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_eval.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1de93ca14426c31aed1cddb4faa26286133cf0
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_eval.json
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_scalar_eval.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..7230c0eaa9af585f68d4b3ef12866246d8d5c0f8
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
+{
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+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_scalar_train.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..7230c0eaa9af585f68d4b3ef12866246d8d5c0f8
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
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+  "stability": 0.9775682091712952
+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_train.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1de93ca14426c31aed1cddb4faa26286133cf0
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_s3_session_metrics_train.json
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_trial_metrics.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_trial_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ba2e95cd234d0fcdee4eceb2579f2ff78670e9
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_trial_metrics.json
@@ -0,0 +1,4667 @@
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diff --git a/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_trial_metrics_scalar.json b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_trial_metrics_scalar.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e93899459226d8329da8a155d0206b34b4762aa
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/info/crossq_humanoid_t0_trial_metrics_scalar.json
@@ -0,0 +1,11 @@
+{
+  "frame": 2000000.0,
+  "total_reward_ma": 1755.292236328125,
+  "strength": 1101.611083984375,
+  "max_strength": 2922.163818359375,
+  "final_strength": 2629.817626953125,
+  "sample_efficiency": 1.1907930002053035e-06,
+  "training_efficiency": 5.1373353926464915e-06,
+  "stability": 0.9789925217628479,
+  "consistency": 0.6186603307723999
+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0.log b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0.log
new file mode 100644
index 0000000000000000000000000000000000000000..5a84390872cf381d59c27ec4af35ca69ca29d1b0
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0.log
@@ -0,0 +1,5 @@
+2026-03-01 19:52:39 | INFO | PID:1327 | slm_lab.lib.logger:info | trial_metrics: frame:2.00e+06 | total_reward_ma:1755.29 | strength:1102 | max_strength:2922 | final_strength:2630 | sample_efficiency:1.191e-06 | training_efficiency:5.137e-06 | stability:0.979 | consistency:0.6187
+2026-03-01 19:52:39 | INFO | PID:1327 | slm_lab.lib.logger:info | Trial 0 done
+2026-03-01 19:52:39 | INFO | PID:1327 | slm_lab.cli.main:run_spec | Output: data/crossq_humanoid_2026_03_01_165208
+2026-03-01 19:52:39 | INFO | PID:1327 | slm_lab.lib.hf:cleanup_models | Cleanup saved 184.8 MB
+2026-03-01 19:52:39 | INFO | PID:1327 | slm_lab.lib.hf:upload | Uploading data/crossq_humanoid_2026_03_01_165208 to SLM-Lab/benchmark-dev/data/crossq_humanoid_2026_03_01_165208...
diff --git a/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s0.log b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s0.log
new file mode 100644
index 0000000000000000000000000000000000000000..54227bf5a28d5b52a80b64a7211df0d65a246da3
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s0.log
@@ -0,0 +1,951 @@
+2026-03-01 16:52:36 | INFO | PID:1467 | slm_lab.env:_make_vector_env | Action rescaling: [-0.4, 0.4] → [-1, 1]
+2026-03-01 16:52:40 | INFO | PID:1467 | 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
+2026-03-01 16:52:40 | INFO | PID:1467 | slm_lab.lib.logger:info | CrossQ:
+algorithm_spec:
+  name: CrossQ
+  action_pdtype: default
+  action_policy: default
+  gamma: 0.99
+  training_frequency: 1
+  training_iter: 4
+  training_start_step: 10000
+  policy_delay: 3
+  log_alpha_max: 0.5
+name: CrossQ
+memory_spec:
+  name: Replay
+  batch_size: 256
+  max_size: 1000000
+  use_cer: false
+action_pdtype: default
+training_iter: 4
+training_start_step: 10000
+policy_delay: 3
+entropy_penalty_coef: 0.0
+symlog: False
+log_alpha_min: -5.0
+log_alpha_max: 0.5
+alpha_anneal_frames: 0
+spectral_norm: False
+gamma: 0.99
+training_frequency: 1
+to_train: 0
+_train_step: 0
+_is_per: False
+shared: False
+net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=348, out_features=256, bias=True)
+      (1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
+      (2): ReLU()
+      (3): Linear(in_features=256, out_features=256, bias=True)
+      (4): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
+      (5): ReLU()
+    )
+  )
+  (tails): ModuleList(
+    (0-1): 2 x Sequential(
+      (0): Linear(in_features=256, out_features=17, bias=True)
+    )
+  )
+  (loss_fn): MSELoss()
+)
+optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+q1_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=365, out_features=1024, bias=True)
+      (1): BatchRenorm1d(1024, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (2): ReLU()
+      (3): Linear(in_features=1024, out_features=1024, bias=True)
+      (4): BatchRenorm1d(1024, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (5): ReLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=1024, out_features=1, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+q2_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=365, out_features=1024, bias=True)
+      (1): BatchRenorm1d(1024, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (2): ReLU()
+      (3): Linear(in_features=1024, out_features=1024, bias=True)
+      (4): BatchRenorm1d(1024, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (5): ReLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=1024, out_features=1, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+q1_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+q2_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+net_names: ['net', 'q1_net', 'q2_net']
+target_entropy: -17
+_entropy_anneal_frames: 0
+log_alpha: tensor([0.], device='cuda:0', requires_grad=True)
+alpha: tensor([1.], device='cuda:0')
+alpha_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+2026-03-01 16:52:46 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
+total_reward:116.67     total_reward_ma:116.67  loss:nan                fps:1111
+frame:1.00e+04          wall_t:9                t:625                   epi:nan
+opt_step:0              lr:0.001                alpha:1
+2026-03-01 16:53:38 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
+total_reward:234.58     total_reward_ma:175.62  loss:4386               fps:322.6
+frame:2.00e+04          wall_t:62               t:1250                  epi:nan
+opt_step:2500           lr:0.001                alpha:0.5308
+2026-03-01 16:54:31 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
+total_reward:303.33     total_reward_ma:218.19  loss:1027               fps:260.9
+frame:3.00e+04          wall_t:115              t:1875                  epi:nan
+opt_step:5000           lr:0.001                alpha:0.3131
+2026-03-01 16:55:25 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:4.00e+04          wall_t:169              t:2500                  epi:nan
+opt_step:7500           lr:0.001                alpha:0.1981
+2026-03-01 16:56:19 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:5.00e+04          wall_t:223              t:3125                  epi:nan
+opt_step:10000          lr:0.001                alpha:0.1358
+2026-03-01 16:57:12 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
+total_reward:382.65     total_reward_ma:283.25  loss:571.6              fps:217.4
+frame:6.00e+04          wall_t:276              t:3750                  epi:nan
+opt_step:12500          lr:0.001                alpha:0.09681
+2026-03-01 16:58:06 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:7.00e+04          wall_t:330              t:4375                  epi:nan
+opt_step:15000          lr:0.001                alpha:0.07102
+2026-03-01 16:58:59 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:8.00e+04          wall_t:383              t:5000                  epi:nan
+opt_step:17500          lr:0.001                alpha:0.05339
+2026-03-01 16:59:53 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:9.00e+04          wall_t:437              t:5625                  epi:nan
+opt_step:20000          lr:0.001                alpha:0.04086
+2026-03-01 17:00:47 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:1.00e+05          wall_t:491              t:6250                  epi:nan
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+2026-03-01 17:01:41 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:1.10e+05          wall_t:545              t:6875                  epi:nan
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+2026-03-01 17:02:35 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:1.20e+05          wall_t:598              t:7500                  epi:nan
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+2026-03-01 17:03:28 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:1.40e+05          wall_t:706              t:8750                  epi:nan
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+2026-03-01 17:05:17 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+frame:1.50e+05          wall_t:761              t:9375                  epi:nan
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+2026-03-01 17:07:05 | INFO | PID:1467 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_t0_s0 [train]
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+2026-03-01 19:52:35 | INFO | PID:1467 | slm_lab.lib.logger:info | Session 0 done
diff --git a/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s1.log b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s1.log
new file mode 100644
index 0000000000000000000000000000000000000000..3365b6b20b86687799db124d1eab37fa83c35b0c
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s1.log
@@ -0,0 +1,802 @@
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+2026-03-01 19:51:01 | INFO | PID:1468 | slm_lab.lib.logger:info | Session 1 done
diff --git a/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s2.log b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s2.log
new file mode 100644
index 0000000000000000000000000000000000000000..2cd597b777398b887e575d372b67c9f6bad79249
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s2.log
@@ -0,0 +1,802 @@
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+2026-03-01 19:50:46 | INFO | PID:1469 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_humanoid_t0_s2 [train]
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+2026-03-01 19:51:38 | INFO | PID:1469 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_humanoid_t0_s2 [train]
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+2026-03-01 19:51:40 | INFO | PID:1469 | slm_lab.lib.logger:info | Session 2 done
diff --git a/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s3.log b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s3.log
new file mode 100644
index 0000000000000000000000000000000000000000..301ef8b3fb70b90667dab8d286ed3b63d9fb75ac
--- /dev/null
+++ b/data/crossq_humanoid_2026_03_01_165208/log/crossq_humanoid_t0_s3.log
@@ -0,0 +1,802 @@
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