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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_df_train.csv b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f945f05f7c2639fc09331a3f10e275814f89cf7
--- /dev/null
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_eval.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e9adefc76e083dc32a4d4276f4928d44ac8132
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_eval.json
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_scalar_eval.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..623eb79daddc4ad6ac6b4796ba7e970d479f0fdd
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_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_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_scalar_train.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..623eb79daddc4ad6ac6b4796ba7e970d479f0fdd
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
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+  "training_efficiency": 2.214896994701121e-06,
+  "stability": 0.9984369277954102
+}
\ No newline at end of file
diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_train.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e9adefc76e083dc32a4d4276f4928d44ac8132
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s0_session_metrics_train.json
@@ -0,0 +1,4226 @@
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_df_eval.csv b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82904f1b76e93d48be61735f37bd282776c647dc
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_df_eval.csv
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_df_train.csv b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82904f1b76e93d48be61735f37bd282776c647dc
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_df_train.csv
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_eval.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4cc4845abd2d38b522dddb5e0d564f8f00b9d4b
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_eval.json
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_scalar_eval.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..bab75d5b122fb106d460a3d9a8099d107ef86970
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_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_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_scalar_train.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..bab75d5b122fb106d460a3d9a8099d107ef86970
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_scalar_train.json
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+  "stability": 0.9992718696594238
+}
\ No newline at end of file
diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_train.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4cc4845abd2d38b522dddb5e0d564f8f00b9d4b
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s1_session_metrics_train.json
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_df_eval.csv b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58cf3752e13857e7530e3a188876e41889cc196a
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_df_eval.csv
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_df_train.csv b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58cf3752e13857e7530e3a188876e41889cc196a
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_df_train.csv
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_eval.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..48dc6755c0e61348507babef26d7883ac255e925
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_eval.json
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+}
\ No newline at end of file
diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_scalar_eval.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..4276d5bb028d17ffa09c7f69832480a3e7f3cb54
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
+{
+  "total_reward_ma": -147.28199768066406,
+  "strength": 777.5869750976562,
+  "max_strength": 1069.4473876953125,
+  "final_strength": 1061.9210205078125,
+  "sample_efficiency": 4.968801476934459e-06,
+  "training_efficiency": 4.864189577347133e-06,
+  "stability": 0.9983361959457397
+}
\ No newline at end of file
diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_scalar_train.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..4276d5bb028d17ffa09c7f69832480a3e7f3cb54
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
+  "total_reward_ma": -147.28199768066406,
+  "strength": 777.5869750976562,
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+  "stability": 0.9983361959457397
+}
\ No newline at end of file
diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_train.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..48dc6755c0e61348507babef26d7883ac255e925
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s2_session_metrics_train.json
@@ -0,0 +1,4226 @@
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_df_eval.csv b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..553fbe6ae94d99af5e73db50e4546327b42921dd
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_df_eval.csv
@@ -0,0 +1,601 @@
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_df_train.csv b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..553fbe6ae94d99af5e73db50e4546327b42921dd
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_df_train.csv
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_eval.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..a63c88ccc41f4ba70cea04dee92eb91c90ee57b0
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_eval.json
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_scalar_eval.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..41dfcfeb1f9d186ef63861d4d5fc1b73f8609129
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_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_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_scalar_train.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..41dfcfeb1f9d186ef63861d4d5fc1b73f8609129
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_scalar_train.json
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+}
\ No newline at end of file
diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_train.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..a63c88ccc41f4ba70cea04dee92eb91c90ee57b0
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_s3_session_metrics_train.json
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diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_trial_metrics.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_trial_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..479fbf0c8bd375f7bdbce0c60a6ef99fb131d3ce
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_trial_metrics.json
@@ -0,0 +1,13867 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_trial_metrics_scalar.json b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_trial_metrics_scalar.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60835656c71d6ac7b9a514dadcf2d9f43bf3d59
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/info/crossq_pendulum_t0_trial_metrics_scalar.json
@@ -0,0 +1,11 @@
+{
+  "frame": 300000.0,
+  "total_reward_ma": -145.65562438964844,
+  "strength": 824.9705810546875,
+  "max_strength": 1067.8089599609375,
+  "final_strength": 1037.04638671875,
+  "sample_efficiency": 5.26836265635211e-06,
+  "training_efficiency": 5.0287271733395755e-06,
+  "stability": 0.9988149404525757,
+  "consistency": 0.7937306761741638
+}
\ No newline at end of file
diff --git a/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0.log b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0.log
new file mode 100644
index 0000000000000000000000000000000000000000..7105f807b11eb9f59eef336bd3cf19a8294a8554
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0.log
@@ -0,0 +1,5 @@
+2026-02-28 14:39:29 | INFO | PID:1333 | slm_lab.lib.logger:info | trial_metrics: frame:3.00e+05 | total_reward_ma:-145.66 | strength:825 | max_strength:1068 | final_strength:1037 | sample_efficiency:5.268e-06 | training_efficiency:5.029e-06 | stability:0.9988 | consistency:0.7937
+2026-02-28 14:39:29 | INFO | PID:1333 | slm_lab.lib.logger:info | Trial 0 done
+2026-02-28 14:39:29 | INFO | PID:1333 | slm_lab.cli.main:run_spec | Output: data/crossq_pendulum_2026_02_28_130648
+2026-02-28 14:39:29 | INFO | PID:1333 | slm_lab.lib.hf:cleanup_models | Cleanup saved 12.7 MB
+2026-02-28 14:39:30 | INFO | PID:1333 | slm_lab.lib.hf:upload | Uploading data/crossq_pendulum_2026_02_28_130648 to SLM-Lab/benchmark-dev/data/crossq_pendulum_2026_02_28_130648...
diff --git a/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s0.log b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s0.log
new file mode 100644
index 0000000000000000000000000000000000000000..3ceb3b28c0cb21ac283f8e4bbcdc5a132b5d484d
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s0.log
@@ -0,0 +1,2547 @@
+2026-02-28 13:06:53 | INFO | PID:1471 | slm_lab.env:_make_vector_env | Action rescaling: [-2.0, 2.0] → [-1, 1]
+2026-02-28 13:06:57 | INFO | PID:1471 | 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
+2026-02-28 13:06:57 | INFO | PID:1471 | slm_lab.lib.logger:info | CrossQ:
+algorithm_spec:
+  name: CrossQ
+  action_pdtype: Normal
+  action_policy: default
+  gamma: 0.99
+  training_iter: 4
+  training_frequency: 1
+  training_start_step: 256
+  policy_delay: 3
+  log_alpha_max: 0.5
+name: CrossQ
+memory_spec:
+  name: Replay
+  batch_size: 256
+  max_size: 100000
+  use_cer: false
+action_pdtype: Normal
+training_iter: 4
+training_start_step: 256
+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=3, out_features=256, bias=True)
+      (1): ReLU()
+      (2): Linear(in_features=256, out_features=256, bias=True)
+      (3): ReLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=256, out_features=2, 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-08
+    foreach: None
+    fused: None
+    lr: 0.0003
+    maximize: False
+    weight_decay: 0
+)
+q1_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=4, out_features=256, bias=True)
+      (1): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=5000)
+      (2): ReLU()
+      (3): Linear(in_features=256, out_features=256, bias=True)
+      (4): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=5000)
+      (5): ReLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=256, out_features=1, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+q2_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=4, out_features=256, bias=True)
+      (1): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=5000)
+      (2): ReLU()
+      (3): Linear(in_features=256, out_features=256, bias=True)
+      (4): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=5000)
+      (5): ReLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=256, out_features=1, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+q1_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: (0.9, 0.999)
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.0003
+    maximize: False
+    weight_decay: 0
+)
+q2_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: (0.9, 0.999)
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.0003
+    maximize: False
+    weight_decay: 0
+)
+net_names: ['net', 'q1_net', 'q2_net']
+target_entropy: -1
+_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: (0.9, 0.999)
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.0003
+    maximize: False
+    weight_decay: 0
+)
+2026-02-28 13:07:02 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:nan     total_reward_ma:nan  loss:59.35           fps:62.5
+frame:5.00e+02       wall_t:8             t:125                epi:nan
+opt_step:244         lr:0.0003            alpha:0.9774
+2026-02-28 13:07:10 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1520.39     total_reward_ma:-1520.39  loss:167                  fps:62.5
+frame:1.00e+03            wall_t:16                 t:250                     epi:nan
+opt_step:744              lr:0.0003                 alpha:1.002
+2026-02-28 13:07:18 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1520.39     total_reward_ma:-1520.39  loss:97.87                fps:60
+frame:1.50e+03            wall_t:25                 t:375                     epi:nan
+opt_step:1244             lr:0.0003                 alpha:0.9993
+2026-02-28 13:07:27 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1448.90     total_reward_ma:-1496.56  loss:448.4                fps:58.82
+frame:2.00e+03            wall_t:34                 t:500                     epi:nan
+opt_step:1744             lr:0.0003                 alpha:0.9952
+2026-02-28 13:07:36 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1431.96     total_reward_ma:-1480.41  loss:868.1                fps:59.52
+frame:2.50e+03            wall_t:42                 t:625                     epi:nan
+opt_step:2244             lr:0.0003                 alpha:0.9391
+2026-02-28 13:07:45 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1431.96     total_reward_ma:-1470.72  loss:415.8                fps:58.82
+frame:3.00e+03            wall_t:51                 t:750                     epi:nan
+opt_step:2744             lr:0.0003                 alpha:0.896
+2026-02-28 13:07:53 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1451.61     total_reward_ma:-1467.53  loss:175.6                fps:59.32
+frame:3.50e+03            wall_t:59                 t:875                     epi:nan
+opt_step:3244             lr:0.0003                 alpha:0.8781
+2026-02-28 13:08:02 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1451.61     total_reward_ma:-1465.26  loss:2729                 fps:58.82
+frame:4.00e+03            wall_t:68                 t:1000                    epi:nan
+opt_step:3744             lr:0.0003                 alpha:0.8849
+2026-02-28 13:08:11 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1432.52     total_reward_ma:-1461.17  loss:566.6                fps:58.44
+frame:4.50e+03            wall_t:77                 t:1125                    epi:nan
+opt_step:4244             lr:0.0003                 alpha:0.8956
+2026-02-28 13:08:20 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1431.36     total_reward_ma:-1457.85  loss:1015                 fps:58.14
+frame:5.00e+03            wall_t:86                 t:1250                    epi:nan
+opt_step:4744             lr:0.0003                 alpha:0.9056
+2026-02-28 13:08:29 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1431.36     total_reward_ma:-1455.21  loss:3493                 fps:57.89
+frame:5.50e+03            wall_t:95                 t:1375                    epi:nan
+opt_step:5244             lr:0.0003                 alpha:0.9614
+2026-02-28 13:08:38 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1422.74     total_reward_ma:-1452.25  loss:963.4                fps:57.69
+frame:6.00e+03            wall_t:104                t:1500                    epi:nan
+opt_step:5744             lr:0.0003                 alpha:0.9838
+2026-02-28 13:08:46 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1407.67     total_reward_ma:-1448.54  loss:1101                 fps:57.52
+frame:6.50e+03            wall_t:113                t:1625                    epi:nan
+opt_step:6244             lr:0.0003                 alpha:1.013
+2026-02-28 13:08:56 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1407.67     total_reward_ma:-1445.40  loss:7376                 fps:57.38
+frame:7.00e+03            wall_t:122                t:1750                    epi:nan
+opt_step:6744             lr:0.0003                 alpha:1.058
+2026-02-28 13:09:05 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1374.00     total_reward_ma:-1440.30  loss:9061                 fps:57.25
+frame:7.50e+03            wall_t:131                t:1875                    epi:nan
+opt_step:7244             lr:0.0003                 alpha:1.092
+2026-02-28 13:09:14 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1374.00     total_reward_ma:-1435.88  loss:1776                 fps:57.14
+frame:8.00e+03            wall_t:140                t:2000                    epi:nan
+opt_step:7744             lr:0.0003                 alpha:1.151
+2026-02-28 13:09:23 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
+total_reward:-1334.09     total_reward_ma:-1429.51  loss:2672                 fps:57.05
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+2026-02-28 14:39:08 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
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+2026-02-28 14:39:17 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
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+2026-02-28 14:39:25 | INFO | PID:1471 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_pendulum_t0_s0 [train]
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+opt_step:299744          lr:0.0003                alpha:0.03341
+2026-02-28 14:39:26 | INFO | PID:1471 | slm_lab.lib.logger:info | Session 0 done
diff --git a/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s1.log b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s1.log
new file mode 100644
index 0000000000000000000000000000000000000000..2790330d31b596d2a9dfb67a13e5be9488c6e65a
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s1.log
@@ -0,0 +1,2402 @@
+2026-02-28 13:06:53 | INFO | PID:1472 | slm_lab.env:_make_vector_env | Action rescaling: [-2.0, 2.0] → [-1, 1]
+2026-02-28 13:07:02 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+frame:5.00e+02       wall_t:8             t:125                epi:nan
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+2026-02-28 13:07:10 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 13:07:18 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 13:44:26 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 13:47:05 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 13:56:47 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 13:56:56 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 13:57:05 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+frame:1.86e+05           wall_t:3307              t:46625                  epi:nan
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+2026-02-28 14:02:10 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:02:19 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:02:28 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:02:37 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:02:46 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:02:55 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:03:04 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:03:13 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:03:22 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:03:31 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:03:41 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:03:59 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:04:08 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:04:15 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:04:24 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:04:33 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:04:42 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:04:51 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:05:00 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:05:09 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:05:19 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:05:28 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:05:37 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:05:46 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:05:54 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:06:03 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:06:12 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:06:22 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:06:31 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:06:40 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:06:49 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:06:58 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:11:06 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:11:13 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:34:31 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+2026-02-28 14:34:41 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+frame:2.97e+05           wall_t:5276              t:74250                  epi:nan
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+frame:2.98e+05           wall_t:5294              t:74500                  epi:nan
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+opt_step:298244          lr:0.0003                alpha:0.07688
+2026-02-28 14:35:27 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
+total_reward:-193.36     total_reward_ma:-149.44  loss:546.4               fps:56.28
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+2026-02-28 14:35:36 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
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+frame:3.00e+05           wall_t:5322              t:74875                  epi:nan
+opt_step:299244          lr:0.0003                alpha:0.09181
+2026-02-28 14:35:45 | INFO | PID:1472 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_pendulum_t0_s1 [train]
+total_reward:-212.29     total_reward_ma:-150.55  loss:6.193               fps:56.27
+frame:3.00e+05           wall_t:5331              t:75000                  epi:nan
+opt_step:299744          lr:0.0003                alpha:0.09949
+2026-02-28 14:35:46 | INFO | PID:1472 | slm_lab.lib.logger:info | Session 1 done
diff --git a/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s2.log b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s2.log
new file mode 100644
index 0000000000000000000000000000000000000000..ea4bdefbd31e06f94a54f71d7547cd2e2dbdf696
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s2.log
@@ -0,0 +1,2402 @@
+2026-02-28 13:06:53 | INFO | PID:1473 | slm_lab.env:_make_vector_env | Action rescaling: [-2.0, 2.0] → [-1, 1]
+2026-02-28 13:07:02 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:nan     total_reward_ma:nan  loss:75.22           fps:62.5
+frame:5.00e+02       wall_t:8             t:125                epi:nan
+opt_step:244         lr:0.0003            alpha:0.9763
+2026-02-28 13:07:10 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:1.00e+03            wall_t:16                 t:250                     epi:nan
+opt_step:744              lr:0.0003                 alpha:0.9491
+2026-02-28 13:07:18 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-1275.67     total_reward_ma:-1275.67  loss:261.8                fps:62.5
+frame:1.50e+03            wall_t:24                 t:375                     epi:nan
+opt_step:1244             lr:0.0003                 alpha:0.9376
+2026-02-28 13:07:28 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-1256.78     total_reward_ma:-1269.37  loss:108.6                fps:57.14
+frame:2.00e+03            wall_t:35                 t:500                     epi:nan
+opt_step:1744             lr:0.0003                 alpha:0.9118
+2026-02-28 13:07:37 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:2.50e+03            wall_t:44                 t:625                     epi:nan
+opt_step:2244             lr:0.0003                 alpha:0.8973
+2026-02-28 13:07:47 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:3.00e+03            wall_t:53                 t:750                     epi:nan
+opt_step:2744             lr:0.0003                 alpha:0.8845
+2026-02-28 13:07:56 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:3.50e+03            wall_t:62                 t:875                     epi:nan
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+2026-02-28 13:08:04 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:52:06 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:52:13 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:52:22 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:52:31 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:52:40 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:52:50 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:53:51 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:54:26 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:54:35 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:54:44 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:54:54 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:55:03 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:55:12 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:55:21 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:55:31 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:55:39 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:55:48 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:55:57 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:56:06 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:56:16 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:56:25 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:56:34 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:56:42 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:56:51 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 13:57:19 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:09:59 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:2.13e+05           wall_t:3785              t:53250                  epi:nan
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+2026-02-28 14:10:08 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:10:17 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:10:26 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:10:34 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:10:49 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:10:58 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:11:07 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:11:26 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:11:42 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:11:50 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:12:00 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:12:09 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:12:18 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:12:27 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:12:36 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:12:46 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:12:54 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:13:03 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:13:13 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:13:30 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:14:05 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:32:03 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:32:21 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:2.88e+05           wall_t:5136              t:72000                  epi:nan
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+2026-02-28 14:32:39 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:2.93e+05           wall_t:5228              t:73250                  epi:nan
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+2026-02-28 14:34:20 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:2.94e+05           wall_t:5246              t:73500                  epi:nan
+opt_step:293744          lr:0.0003                alpha:0.03644
+2026-02-28 14:34:28 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+2026-02-28 14:34:37 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:2.95e+05           wall_t:5263              t:73750                  epi:nan
+opt_step:294744          lr:0.0003                alpha:0.03522
+2026-02-28 14:34:46 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+opt_step:295244          lr:0.0003                alpha:0.03363
+2026-02-28 14:34:55 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:2.96e+05           wall_t:5281              t:74000                  epi:nan
+opt_step:295744          lr:0.0003                alpha:0.03301
+2026-02-28 14:35:04 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
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+frame:2.96e+05           wall_t:5291              t:74125                  epi:nan
+opt_step:296244          lr:0.0003                alpha:0.03428
+2026-02-28 14:35:13 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-131.29     total_reward_ma:-148.22  loss:3.757               fps:56.04
+frame:2.97e+05           wall_t:5300              t:74250                  epi:nan
+opt_step:296744          lr:0.0003                alpha:0.03395
+2026-02-28 14:35:22 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-132.59     total_reward_ma:-148.02  loss:805.6               fps:56.05
+frame:2.98e+05           wall_t:5308              t:74375                  epi:nan
+opt_step:297244          lr:0.0003                alpha:0.03614
+2026-02-28 14:35:31 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-132.59     total_reward_ma:-147.84  loss:124.8               fps:56.05
+frame:2.98e+05           wall_t:5317              t:74500                  epi:nan
+opt_step:297744          lr:0.0003                alpha:0.03669
+2026-02-28 14:35:41 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-136.39     total_reward_ma:-147.69  loss:3.408               fps:56.04
+frame:2.98e+05           wall_t:5327              t:74625                  epi:nan
+opt_step:298244          lr:0.0003                alpha:0.03778
+2026-02-28 14:35:50 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-136.39     total_reward_ma:-147.54  loss:16.13               fps:56.03
+frame:2.99e+05           wall_t:5336              t:74750                  epi:nan
+opt_step:298744          lr:0.0003                alpha:0.03832
+2026-02-28 14:35:58 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-134.92     total_reward_ma:-147.41  loss:97.79               fps:56.03
+frame:3.00e+05           wall_t:5345              t:74875                  epi:nan
+opt_step:299244          lr:0.0003                alpha:0.03656
+2026-02-28 14:36:06 | INFO | PID:1473 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_pendulum_t0_s2 [train]
+total_reward:-135.23     total_reward_ma:-147.28  loss:89.84               fps:56.04
+frame:3.00e+05           wall_t:5353              t:75000                  epi:nan
+opt_step:299744          lr:0.0003                alpha:0.03718
+2026-02-28 14:36:07 | INFO | PID:1473 | slm_lab.lib.logger:info | Session 2 done
diff --git a/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s3.log b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s3.log
new file mode 100644
index 0000000000000000000000000000000000000000..24481f773aadc18345eb0cc3a1052d8945ca8f06
--- /dev/null
+++ b/data/crossq_pendulum_2026_02_28_130648/log/crossq_pendulum_t0_s3.log
@@ -0,0 +1,2402 @@
+2026-02-28 13:06:53 | INFO | PID:1474 | slm_lab.env:_make_vector_env | Action rescaling: [-2.0, 2.0] → [-1, 1]
+2026-02-28 13:07:02 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
+total_reward:nan     total_reward_ma:nan  loss:81.58           fps:62.5
+frame:5.00e+02       wall_t:8             t:125                epi:nan
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+2026-02-28 13:51:09 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:51:18 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:51:27 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:52:22 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:53:44 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:53:54 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:54:03 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:54:12 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:54:21 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:54:30 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:54:57 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:55:16 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:55:34 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:55:44 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:55:53 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 13:56:11 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 14:00:18 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 14:09:10 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+2026-02-28 14:26:48 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
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+frame:2.98e+05           wall_t:5317              t:74625                  epi:nan
+opt_step:298244          lr:0.0003                alpha:0.09455
+2026-02-28 14:35:40 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
+total_reward:-155.73     total_reward_ma:-141.04  loss:173.9               fps:56.14
+frame:2.99e+05           wall_t:5326              t:74750                  epi:nan
+opt_step:298744          lr:0.0003                alpha:0.09935
+2026-02-28 14:35:49 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
+total_reward:-158.05     total_reward_ma:-141.27  loss:110.5               fps:56.14
+frame:3.00e+05           wall_t:5335              t:74875                  epi:nan
+opt_step:299244          lr:0.0003                alpha:0.1008
+2026-02-28 14:35:58 | INFO | PID:1474 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_pendulum_t0_s3 [train]
+total_reward:-154.77     total_reward_ma:-141.46  loss:5.133               fps:56.14
+frame:3.00e+05           wall_t:5344              t:75000                  epi:nan
+opt_step:299744          lr:0.0003                alpha:0.1029
+2026-02-28 14:35:58 | INFO | PID:1474 | slm_lab.lib.logger:info | Session 3 done
diff --git a/data/crossq_pendulum_2026_02_28_130648/model/crossq_pendulum_t0_s3_ckpt-best_net_model.pt b/data/crossq_pendulum_2026_02_28_130648/model/crossq_pendulum_t0_s3_ckpt-best_net_model.pt
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