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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_df_train.csv b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99235e904bffcb9c6b362759c1e81b1f9d935a04
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_df_train.csv
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_eval.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..2186676cc3d1d4006ff683cf66353b14b8eb5bc9
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_eval.json
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_scalar_eval.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03da7b88c7f1699ffb4b89ad883d19862063fb3
--- /dev/null
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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_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_scalar_train.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03da7b88c7f1699ffb4b89ad883d19862063fb3
--- /dev/null
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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_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_train.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..2186676cc3d1d4006ff683cf66353b14b8eb5bc9
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s0_session_metrics_train.json
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_df_eval.csv b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..982f362cb9bb502c092df31c79a5a2c2fd2df782
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_df_eval.csv
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_df_train.csv b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..982f362cb9bb502c092df31c79a5a2c2fd2df782
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_df_train.csv
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_eval.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e7454f14e086bdc78fd1e3009ade39c196f5281
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_eval.json
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+}
\ No newline at end of file
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_scalar_eval.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5d315407c62625918b27ecd4d50c8e14e62873d
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
+{
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+  "strength": 3556.537353515625,
+  "max_strength": 4536.029296875,
+  "final_strength": 4366.8603515625,
+  "sample_efficiency": 2.8401720086890236e-08,
+  "training_efficiency": 1.4583582014893182e-05,
+  "stability": 0.9927340149879456
+}
\ No newline at end of file
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_scalar_train.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5d315407c62625918b27ecd4d50c8e14e62873d
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
+  "total_reward_ma": 4271.5751953125,
+  "strength": 3556.537353515625,
+  "max_strength": 4536.029296875,
+  "final_strength": 4366.8603515625,
+  "sample_efficiency": 2.8401720086890236e-08,
+  "training_efficiency": 1.4583582014893182e-05,
+  "stability": 0.9927340149879456
+}
\ No newline at end of file
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_train.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e7454f14e086bdc78fd1e3009ade39c196f5281
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s1_session_metrics_train.json
@@ -0,0 +1,7026 @@
+{
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+    "strength": 3556.537353515625,
+    "max_strength": 4536.029296875,
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_df_eval.csv b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3a67203cd13657dbefb81c97f4698ba43a83c7c
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_df_eval.csv
@@ -0,0 +1,1001 @@
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_df_train.csv b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3a67203cd13657dbefb81c97f4698ba43a83c7c
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_df_train.csv
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_eval.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3154792b4c21980fecc0f3a0c73b1ee93100320
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_eval.json
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_scalar_eval.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e0ba908f696276ad5d52ce1d785d74ed1379c43
--- /dev/null
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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_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_scalar_train.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e0ba908f696276ad5d52ce1d785d74ed1379c43
--- /dev/null
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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_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_train.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3154792b4c21980fecc0f3a0c73b1ee93100320
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s2_session_metrics_train.json
@@ -0,0 +1,7026 @@
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_df_eval.csv b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..152067e7f5a7a7de68117d0864de46e67d1356c1
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_df_eval.csv
@@ -0,0 +1,1001 @@
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_df_train.csv b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..152067e7f5a7a7de68117d0864de46e67d1356c1
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_df_train.csv
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_eval.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..0517c2c69bbdae72d0ee0c03a1b73e4d618b1664
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_eval.json
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_scalar_eval.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..d110a6513ff6bc066e3b5743d5023273f4549db3
--- /dev/null
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_scalar_train.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..d110a6513ff6bc066e3b5743d5023273f4549db3
--- /dev/null
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_train.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_s3_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..0517c2c69bbdae72d0ee0c03a1b73e4d618b1664
--- /dev/null
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diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_trial_metrics.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_trial_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d707a4c6efd0e8763b10e2a524839013a91919a
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_trial_metrics.json
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\ No newline at end of file
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_trial_metrics_scalar.json b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_trial_metrics_scalar.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c3cf45d1cd426a68a5080789f43ad937aaa371
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/info/ppo_playground_loco_pandapickcubeorientation_t0_trial_metrics_scalar.json
@@ -0,0 +1,11 @@
+{
+  "frame": 100003840.0,
+  "total_reward_ma": 4281.6611328125,
+  "strength": 3617.597900390625,
+  "max_strength": 4535.158203125,
+  "final_strength": 4340.6357421875,
+  "sample_efficiency": 2.885054151136046e-08,
+  "training_efficiency": 1.4830712643743027e-05,
+  "stability": 0.9930870532989502,
+  "consistency": 0.8894577622413635
+}
\ No newline at end of file
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0.log b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0.log
new file mode 100644
index 0000000000000000000000000000000000000000..cc4be76533a139a9dbdb853b1da6c0f9e960a36e
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0.log
@@ -0,0 +1,5 @@
+2026-03-19 02:44:33 | INFO | PID:1842 | slm_lab.lib.logger:info | trial_metrics: frame:1.00e+08 | total_reward_ma:4281.66 | strength:3618 | max_strength:4535 | final_strength:4341 | sample_efficiency:2.885e-08 | training_efficiency:1.483e-05 | stability:0.9931 | consistency:0.8895
+2026-03-19 02:44:33 | INFO | PID:1842 | slm_lab.lib.logger:info | Trial 0 done
+2026-03-19 02:44:33 | INFO | PID:1842 | slm_lab.cli.main:run_spec | Output: data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108
+2026-03-19 02:44:33 | INFO | PID:1842 | slm_lab.lib.hf:cleanup_models | Cleanup saved 21.0 MB
+2026-03-19 02:44:33 | INFO | PID:1842 | slm_lab.lib.hf:upload | Uploading data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108 to SLM-Lab/benchmark-dev/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108...
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s0.log b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s0.log
new file mode 100644
index 0000000000000000000000000000000000000000..9d288edbb35bed0bc77105e4afb17c73e0a52212
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s0.log
@@ -0,0 +1,4141 @@
+2026-03-19 01:51:13 | INFO | PID:1982 | slm_lab.env:make_env | Playground device: GPU (cuda) — DLPack zero-copy
+2026-03-19 01:51:23 | INFO | PID:1982 | slm_lab.env:_make_playground_env | Playground: JAX→PyTorch via DLPack zero-copy (GPU)
+2026-03-19 01:51:27 | INFO | PID:1982 | 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
+2026-03-19 01:51:27 | INFO | PID:1982 | 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: 0.3
+  entropy_coef_spec:
+    name: no_decay
+    start_val: 0.01
+  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: 0.01
+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: 0.3
+time_horizon: 20
+training_epoch: 4
+to_train: 0
+_unroll_batches: []
+training_frequency: 20
+clip_eps: 0.3
+shared: False
+net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=66, 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=8, bias=True)
+    )
+  )
+  (loss_fn): MSELoss()
+)
+net_names: ['net', 'critic_net']
+critic_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=66, 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=66, 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=8, bias=True)
+    )
+  )
+  (loss_fn): MSELoss()
+)
+2026-03-19 01:51:27 | INFO | PID:1982 | slm_lab.lib.logger:info | Random baseline unavailable for playground/PandaPickCubeOrientation, defaulting to 0.
+2026-03-19 01:53:35 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:nan     total_reward_ma:nan  loss:6.13            fps:775.8
+frame:1.02e+05       wall_t:132           t:25                 epi:nan
+opt_step:160         lr:0.0003            clip_eps:0.3         entropy:11.7
+2026-03-19 01:53:38 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:nan     total_reward_ma:nan  loss:5.288           fps:1498
+frame:2.01e+05       wall_t:134           t:49                 epi:nan
+opt_step:320         lr:0.0003            clip_eps:0.3         entropy:12.05
+2026-03-19 01:53:40 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:46.23     total_reward_ma:46.23  loss:4.416             fps:2229
+frame:3.03e+05         wall_t:136             t:74                   epi:nan
+opt_step:480           lr:0.0003              clip_eps:0.3           entropy:12.49
+2026-03-19 01:53:44 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:4.01e+05         wall_t:140             t:98                   epi:nan
+opt_step:640           lr:0.0003              clip_eps:0.3           entropy:12.81
+2026-03-19 01:53:48 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:92.50     total_reward_ma:68.32  loss:5.062             fps:3499
+frame:5.04e+05         wall_t:144             t:123                  epi:nan
+opt_step:960           lr:0.0003              clip_eps:0.3           entropy:13.3
+2026-03-19 01:53:51 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:103.87    total_reward_ma:77.21  loss:5.385             fps:4096
+frame:6.02e+05         wall_t:147             t:147                  epi:nan
+opt_step:1120          lr:0.0003              clip_eps:0.3           entropy:13.6
+2026-03-19 01:53:53 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:132.70    total_reward_ma:88.31  loss:5.508             fps:4669
+frame:7.00e+05         wall_t:150             t:171                  epi:nan
+opt_step:1280          lr:0.0003              clip_eps:0.3           entropy:13.89
+2026-03-19 01:53:56 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:143.91    total_reward_ma:97.57  loss:5.696             fps:5282
+frame:8.03e+05         wall_t:152             t:196                  epi:nan
+opt_step:1440          lr:0.0003              clip_eps:0.3           entropy:14.22
+2026-03-19 01:54:00 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:149.61     total_reward_ma:105.01  loss:5.919              fps:5740
+frame:9.01e+05          wall_t:157              t:220                   epi:nan
+opt_step:1760           lr:0.0003               clip_eps:0.3            entropy:14.42
+2026-03-19 01:54:03 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:151.26     total_reward_ma:110.79  loss:6.937              fps:6311
+frame:1.00e+06          wall_t:159              t:245                   epi:nan
+opt_step:1920           lr:0.0003               clip_eps:0.3            entropy:14.59
+2026-03-19 01:54:06 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:163.95     total_reward_ma:116.70  loss:7.748              fps:6801
+frame:1.10e+06          wall_t:162              t:269                   epi:nan
+opt_step:2080           lr:0.0003               clip_eps:0.3            entropy:14.63
+2026-03-19 01:54:08 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:1.20e+06          wall_t:164              t:293                   epi:nan
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+2026-03-19 01:54:11 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:1.30e+06          wall_t:167              t:318                   epi:nan
+opt_step:2400           lr:0.0003               clip_eps:0.3            entropy:15.01
+2026-03-19 01:54:15 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:212.39     total_reward_ma:136.97  loss:7.884              fps:8144
+frame:1.40e+06          wall_t:172              t:342                   epi:nan
+opt_step:2720           lr:0.0003               clip_eps:0.3            entropy:15.26
+2026-03-19 01:54:18 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:214.67     total_reward_ma:142.95  loss:8.12               fps:8639
+frame:1.50e+06          wall_t:174              t:367                   epi:nan
+opt_step:2880           lr:0.0003               clip_eps:0.3            entropy:15.45
+2026-03-19 01:54:21 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:1.60e+06          wall_t:177              t:391                   epi:nan
+opt_step:3040           lr:0.0003               clip_eps:0.3            entropy:15.31
+2026-03-19 01:54:23 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:265.55     total_reward_ma:158.07  loss:8.421              fps:9466
+frame:1.70e+06          wall_t:180              t:416                   epi:nan
+opt_step:3200           lr:0.0003               clip_eps:0.3            entropy:15.23
+2026-03-19 01:54:27 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:1.80e+06          wall_t:184              t:440                   epi:nan
+opt_step:3520           lr:0.0003               clip_eps:0.3            entropy:14.84
+2026-03-19 01:54:30 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:298.78     total_reward_ma:173.40  loss:8.897              fps:1.022e+04
+frame:1.90e+06          wall_t:186              t:464                   epi:nan
+opt_step:3680           lr:0.0003               clip_eps:0.3            entropy:14.75
+2026-03-19 01:54:32 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:321.30     total_reward_ma:181.62  loss:9.182              fps:1.06e+04
+frame:2.00e+06          wall_t:189              t:489                   epi:nan
+opt_step:3840           lr:0.0003               clip_eps:0.3            entropy:14.49
+2026-03-19 01:54:35 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:324.91     total_reward_ma:189.16  loss:9.092              fps:1.1e+04
+frame:2.10e+06          wall_t:191              t:513                   epi:nan
+opt_step:4000           lr:0.0003               clip_eps:0.3            entropy:14.36
+2026-03-19 01:54:38 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:2.20e+06          wall_t:194              t:538                   epi:nan
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+2026-03-19 01:54:42 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:2.30e+06          wall_t:198              t:562                   epi:nan
+opt_step:4480           lr:0.0003               clip_eps:0.3            entropy:13.95
+2026-03-19 01:54:45 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:2.40e+06          wall_t:201              t:586                   epi:nan
+opt_step:4640           lr:0.0003               clip_eps:0.3            entropy:13.83
+2026-03-19 01:54:47 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:364.49     total_reward_ma:217.16  loss:5.62               fps:1.227e+04
+frame:2.50e+06          wall_t:204              t:611                   epi:nan
+opt_step:4800           lr:0.0003               clip_eps:0.3            entropy:13.67
+2026-03-19 01:54:50 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+2026-03-19 01:54:54 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:414.36     total_reward_ma:231.90  loss:5.597              fps:1.287e+04
+frame:2.70e+06          wall_t:210              t:660                   epi:nan
+opt_step:5280           lr:0.0003               clip_eps:0.3            entropy:13.59
+2026-03-19 01:54:57 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:455.69     total_reward_ma:240.50  loss:5.641              fps:1.315e+04
+frame:2.80e+06          wall_t:213              t:684                   epi:nan
+opt_step:5440           lr:0.0003               clip_eps:0.3            entropy:13.66
+2026-03-19 01:55:00 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:489.17     total_reward_ma:249.71  loss:5.069              fps:1.344e+04
+frame:2.90e+06          wall_t:216              t:709                   epi:nan
+opt_step:5600           lr:0.0003               clip_eps:0.3            entropy:13.49
+2026-03-19 01:55:03 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:532.78     total_reward_ma:259.82  loss:5.246              fps:1.371e+04
+frame:3.00e+06          wall_t:219              t:733                   epi:nan
+opt_step:5760           lr:0.0003               clip_eps:0.3            entropy:13.49
+2026-03-19 01:55:05 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:570.49     total_reward_ma:270.54  loss:4.821              fps:1.397e+04
+frame:3.10e+06          wall_t:222              t:757                   epi:nan
+opt_step:5920           lr:0.0003               clip_eps:0.3            entropy:13.53
+2026-03-19 01:55:10 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:601.38     total_reward_ma:281.56  loss:4.64               fps:1.417e+04
+frame:3.20e+06          wall_t:226              t:782                   epi:nan
+opt_step:6240           lr:0.0003               clip_eps:0.3            entropy:13.5
+2026-03-19 01:55:13 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:618.92     total_reward_ma:292.45  loss:4.626              fps:1.442e+04
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+2026-03-19 01:55:15 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+2026-03-19 01:55:18 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+frame:3.50e+06          wall_t:234              t:855                   epi:nan
+opt_step:6720           lr:0.0003               clip_eps:0.3            entropy:13.55
+2026-03-19 01:55:21 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
+total_reward:708.11     total_reward_ma:326.32  loss:4.249              fps:1.519e+04
+frame:3.60e+06          wall_t:237              t:879                   epi:nan
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+2026-03-19 01:55:25 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+2026-03-19 02:44:25 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+2026-03-19 02:44:27 | INFO | PID:1982 | slm_lab.agent:log_summary | Trial 0 session 0 ppo_playground_loco_pandapickcubeorientation_t0_s0 [train]
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+2026-03-19 02:44:28 | INFO | PID:1982 | slm_lab.lib.logger:info | Session 0 done
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s1.log b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s1.log
new file mode 100644
index 0000000000000000000000000000000000000000..d24bbb7b2f0b32f3361e32481d9586ed70cadda8
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s1.log
@@ -0,0 +1,4003 @@
+2026-03-19 01:51:13 | INFO | PID:1983 | slm_lab.env:make_env | Playground device: GPU (cuda) — DLPack zero-copy
+2026-03-19 01:51:23 | INFO | PID:1983 | slm_lab.env:_make_playground_env | Playground: JAX→PyTorch via DLPack zero-copy (GPU)
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+2026-03-19 01:53:37 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:05:18 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:12:25 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:12:32 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:15:31 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:16:59 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:21:36 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:26:09 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:28:25 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:32:59 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:38:58 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:39:00 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:39:04 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:39:06 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:39:08 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+2026-03-19 02:39:10 | INFO | PID:1983 | slm_lab.agent:log_summary | Trial 0 session 1 ppo_playground_loco_pandapickcubeorientation_t0_s1 [train]
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+frame:1.00e+08           wall_t:2866              t:24415                  epi:nan
+opt_step:195200          lr:0.0003                clip_eps:0.3             entropy:22.2
+2026-03-19 02:39:11 | INFO | PID:1983 | slm_lab.lib.logger:info | Session 1 done
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s2.log b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s2.log
new file mode 100644
index 0000000000000000000000000000000000000000..ff34fb7008d4daf3195dbd69a12abcca5577cb3a
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s2.log
@@ -0,0 +1,4003 @@
+2026-03-19 01:51:13 | INFO | PID:1984 | slm_lab.env:make_env | Playground device: GPU (cuda) — DLPack zero-copy
+2026-03-19 01:51:23 | INFO | PID:1984 | slm_lab.env:_make_playground_env | Playground: JAX→PyTorch via DLPack zero-copy (GPU)
+2026-03-19 01:53:35 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:53:38 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:53:40 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:53:43 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:53:47 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:53:49 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:53:51 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:53:54 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:53:58 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 01:54:00 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:03:35 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:00 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:03 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:05 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:09 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:11 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:14 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:16 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:20 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:23 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:25 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:27 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:30 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:39 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:47 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:13:50 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:14:01 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:14:09 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:14:12 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:14:14 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:14:17 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:14:19 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:15:17 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:15:20 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:35 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:39 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:42 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:44 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:47 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:49 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:53 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:55 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:17:58 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:00 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:06 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:17 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:19 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:21 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:24 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:33 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:38 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:42 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:44 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:46 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:48 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:51 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:18:55 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:19:02 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:19:51 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:22:10 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:22:12 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:22:14 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:22:17 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:22:19 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:22:23 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:26:41 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:35:45 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:39:04 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:39:07 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+2026-03-19 02:39:09 | INFO | PID:1984 | slm_lab.agent:log_summary | Trial 0 session 2 ppo_playground_loco_pandapickcubeorientation_t0_s2 [train]
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+frame:1.00e+08           wall_t:2865              t:24415                  epi:nan
+opt_step:195200          lr:0.0003                clip_eps:0.3             entropy:22.64
+2026-03-19 02:39:09 | INFO | PID:1984 | slm_lab.lib.logger:info | Session 2 done
diff --git a/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s3.log b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s3.log
new file mode 100644
index 0000000000000000000000000000000000000000..bdfd8fb0d713b8ae9c37eca79d8cfb7001622c40
--- /dev/null
+++ b/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108/log/ppo_playground_loco_pandapickcubeorientation_t0_s3.log
@@ -0,0 +1,4003 @@
+2026-03-19 01:51:13 | INFO | PID:1985 | slm_lab.env:make_env | Playground device: GPU (cuda) — DLPack zero-copy
+2026-03-19 01:51:23 | INFO | PID:1985 | slm_lab.env:_make_playground_env | Playground: JAX→PyTorch via DLPack zero-copy (GPU)
+2026-03-19 01:53:35 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:53:37 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:53:39 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:53:43 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:53:47 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:53:49 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:53:51 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:53:54 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:53:58 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:57:04 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:59:28 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:59:30 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:59:33 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:59:35 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:59:38 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:59:42 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 01:59:47 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:08:57 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:20 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:23 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:25 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:27 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:31 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:34 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:36 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:38 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:41 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:47 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:11:52 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:01 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:03 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:16 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:22 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:25 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:27 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:29 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:33 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:35 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:37 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:42 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:46 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:48 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:12:57 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:13:36 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:15:53 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:20:27 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:25:03 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:27:19 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:27:21 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:27:24 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:27:26 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:31:49 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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+2026-03-19 02:34:02 | INFO | PID:1985 | slm_lab.agent:log_summary | Trial 0 session 3 ppo_playground_loco_pandapickcubeorientation_t0_s3 [train]
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