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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_df_train.csv b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5682dd8aed189fc63785ee8fc6d62d6f1ca716c
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_df_train.csv
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_eval.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..4827d3824c13f03711bbd1cfb5632dcf4726e440
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_eval.json
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_scalar_eval.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..574a290ec4a9dd5c0142143ab5c90e84b7626607
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_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_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_scalar_train.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..574a290ec4a9dd5c0142143ab5c90e84b7626607
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_scalar_train.json
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+  "stability": 0.9943994879722595
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_train.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..4827d3824c13f03711bbd1cfb5632dcf4726e440
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s0_session_metrics_train.json
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_df_eval.csv b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2558b6f628569cec6ff4a10f6cc83328582cf732
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_df_eval.csv
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_df_train.csv b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2558b6f628569cec6ff4a10f6cc83328582cf732
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_df_train.csv
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_eval.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..c73de051b3e1a533a5592b2ce05016d602a655fe
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_eval.json
@@ -0,0 +1,1426 @@
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_scalar_eval.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0185386194d60e21f60bb9d91f55f40359d19b1
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
+{
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+  "training_efficiency": 3.056973218917847e-05,
+  "stability": 0.9962751865386963
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_scalar_train.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0185386194d60e21f60bb9d91f55f40359d19b1
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
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+  "strength": 35.87757873535156,
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+  "training_efficiency": 3.056973218917847e-05,
+  "stability": 0.9962751865386963
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_train.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..c73de051b3e1a533a5592b2ce05016d602a655fe
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s1_session_metrics_train.json
@@ -0,0 +1,1426 @@
+{
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_df_eval.csv b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..451b6533d3d7f767f94dabed56bdd66c6bcf0588
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_df_eval.csv
@@ -0,0 +1,201 @@
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_df_train.csv b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..451b6533d3d7f767f94dabed56bdd66c6bcf0588
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_df_train.csv
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_eval.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..0037e3cd84e5c88074fd209da2f15e0810c098b6
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_eval.json
@@ -0,0 +1,1426 @@
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_scalar_eval.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5b23a2c45251b574c6dc2466737691f03f8148f
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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+  "stability": 0.9955226182937622
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_scalar_train.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5b23a2c45251b574c6dc2466737691f03f8148f
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
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+  "training_efficiency": 3.0682153010275215e-05,
+  "stability": 0.9955226182937622
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_train.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..0037e3cd84e5c88074fd209da2f15e0810c098b6
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s2_session_metrics_train.json
@@ -0,0 +1,1426 @@
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_df_eval.csv b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1424e04c6f84c4dabd8ea2ed857e8378f1805e3d
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_df_eval.csv
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_df_train.csv b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1424e04c6f84c4dabd8ea2ed857e8378f1805e3d
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_df_train.csv
@@ -0,0 +1,201 @@
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_eval.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc8943aa5cb056e3e6e1068508aac938a76db446
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_eval.json
@@ -0,0 +1,1426 @@
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_scalar_eval.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d89c3a40b9420ed0b43197a077d555832e5e692
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_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_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_scalar_train.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d89c3a40b9420ed0b43197a077d555832e5e692
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_scalar_train.json
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+  "stability": 0.9943748116493225
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_train.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc8943aa5cb056e3e6e1068508aac938a76db446
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_s3_session_metrics_train.json
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diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_trial_metrics.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_trial_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4813cc2e24126b8f8ed305de32710cee032a6c00
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_trial_metrics.json
@@ -0,0 +1,4667 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_trial_metrics_scalar.json b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_trial_metrics_scalar.json
new file mode 100644
index 0000000000000000000000000000000000000000..284eb7794723fc9abadf3256fbbed745b9d14d4b
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/info/crossq_reacher_t0_trial_metrics_scalar.json
@@ -0,0 +1,11 @@
+{
+  "frame": 2000000.0,
+  "total_reward_ma": -5.647057056427002,
+  "strength": 35.75606155395508,
+  "max_strength": 38.057861328125,
+  "final_strength": 37.675418853759766,
+  "sample_efficiency": 1.8378830191068118e-06,
+  "training_efficiency": 3.0648079700767994e-05,
+  "stability": 0.9951430559158325,
+  "consistency": 0.9776400327682495
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0.log b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0.log
new file mode 100644
index 0000000000000000000000000000000000000000..8555c477cec0ebed1fd49ec910fbfacc95ba647d
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0.log
@@ -0,0 +1,5 @@
+2026-02-28 19:30:50 | INFO | PID:1270 | slm_lab.lib.logger:info | trial_metrics: frame:2.00e+06 | total_reward_ma:-5.65 | strength:35.76 | max_strength:38.06 | final_strength:37.68 | sample_efficiency:1.838e-06 | training_efficiency:3.065e-05 | stability:0.9951 | consistency:0.9776
+2026-02-28 19:30:50 | INFO | PID:1270 | slm_lab.lib.logger:info | Trial 0 done
+2026-02-28 19:30:50 | INFO | PID:1270 | slm_lab.cli.main:run_spec | Output: data/crossq_reacher_2026_02_28_184304
+2026-02-28 19:30:50 | INFO | PID:1270 | slm_lab.lib.hf:cleanup_models | Cleanup saved 13.1 MB
+2026-02-28 19:30:51 | INFO | PID:1270 | slm_lab.lib.hf:upload | Uploading data/crossq_reacher_2026_02_28_184304 to SLM-Lab/benchmark-dev/data/crossq_reacher_2026_02_28_184304...
diff --git a/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s0.log b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s0.log
new file mode 100644
index 0000000000000000000000000000000000000000..e42b4e569ea179684b3d4a9a3fdd15f03d5cebcd
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s0.log
@@ -0,0 +1,948 @@
+2026-02-28 18:43:36 | INFO | PID:1410 | 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 18:43:36 | INFO | PID:1410 | slm_lab.lib.logger:info | CrossQ:
+algorithm_spec:
+  name: CrossQ
+  action_pdtype: default
+  action_policy: default
+  gamma: 0.99
+  training_frequency: 1
+  training_iter: 1
+  training_start_step: 5000
+  policy_delay: 3
+  log_alpha_max: 0.5
+name: CrossQ
+memory_spec:
+  name: Replay
+  batch_size: 256
+  max_size: 1000000
+  use_cer: false
+action_pdtype: default
+training_iter: 1
+training_start_step: 5000
+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=10, out_features=256, bias=True)
+      (1): ReLU()
+      (2): Linear(in_features=256, out_features=256, bias=True)
+      (3): ReLU()
+    )
+  )
+  (tails): ModuleList(
+    (0-1): 2 x Sequential(
+      (0): Linear(in_features=256, out_features=2, bias=True)
+    )
+  )
+  (loss_fn): MSELoss()
+)
+optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+q1_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=12, out_features=256, bias=True)
+      (1): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (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=100000)
+      (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=12, out_features=256, bias=True)
+      (1): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (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=100000)
+      (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: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+q2_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+net_names: ['net', 'q1_net', 'q2_net']
+target_entropy: -2
+_entropy_anneal_frames: 0
+log_alpha: tensor([0.], device='cuda:0', requires_grad=True)
+alpha: tensor([1.], device='cuda:0')
+alpha_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+2026-02-28 18:43:44 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-42.98     total_reward_ma:-42.98  loss:1.196              fps:833.3
+frame:1.00e+04          wall_t:12               t:625                   epi:nan
+opt_step:313            lr:0.001                alpha:0.9006
+2026-02-28 18:43:58 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-34.84     total_reward_ma:-38.91  loss:0.5991             fps:800
+frame:2.00e+04          wall_t:25               t:1250                  epi:nan
+opt_step:938            lr:0.001                alpha:0.7466
+2026-02-28 18:44:11 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-32.61     total_reward_ma:-36.81  loss:-3.195             fps:769.2
+frame:3.00e+04          wall_t:39               t:1875                  epi:nan
+opt_step:1563           lr:0.001                alpha:0.6281
+2026-02-28 18:44:26 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-29.25     total_reward_ma:-34.92  loss:0.4334             fps:740.7
+frame:4.00e+04          wall_t:54               t:2500                  epi:nan
+opt_step:2188           lr:0.001                alpha:0.5368
+2026-02-28 18:44:40 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-27.51     total_reward_ma:-33.44  loss:0.5026             fps:735.3
+frame:5.00e+04          wall_t:68               t:3125                  epi:nan
+opt_step:2813           lr:0.001                alpha:0.4645
+2026-02-28 18:44:54 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-27.37     total_reward_ma:-32.43  loss:26.44              fps:731.7
+frame:6.00e+04          wall_t:82               t:3750                  epi:nan
+opt_step:3438           lr:0.001                alpha:0.4058
+2026-02-28 18:45:08 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-21.96     total_reward_ma:-30.93  loss:0.2561             fps:729.2
+frame:7.00e+04          wall_t:96               t:4375                  epi:nan
+opt_step:4063           lr:0.001                alpha:0.3576
+2026-02-28 18:45:22 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-20.94     total_reward_ma:-29.68  loss:10.62              fps:727.3
+frame:8.00e+04          wall_t:110              t:5000                  epi:nan
+opt_step:4688           lr:0.001                alpha:0.3177
+2026-02-28 18:45:36 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-20.06     total_reward_ma:-28.61  loss:30.22              fps:725.8
+frame:9.00e+04          wall_t:124              t:5625                  epi:nan
+opt_step:5313           lr:0.001                alpha:0.2832
+2026-02-28 18:45:50 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-17.93     total_reward_ma:-27.54  loss:0.5127             fps:729.9
+frame:1.00e+05          wall_t:137              t:6250                  epi:nan
+opt_step:5938           lr:0.001                alpha:0.2549
+2026-02-28 18:46:04 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-16.85     total_reward_ma:-26.57  loss:0.1834             fps:728.5
+frame:1.10e+05          wall_t:151              t:6875                  epi:nan
+opt_step:6563           lr:0.001                alpha:0.2307
+2026-02-28 18:46:18 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-15.36     total_reward_ma:-25.64  loss:30.33              fps:727.3
+frame:1.20e+05          wall_t:165              t:7500                  epi:nan
+opt_step:7188           lr:0.001                alpha:0.2096
+2026-02-28 18:46:32 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-14.52     total_reward_ma:-24.78  loss:0.1291             fps:726.3
+frame:1.30e+05          wall_t:179              t:8125                  epi:nan
+opt_step:7813           lr:0.001                alpha:0.1912
+2026-02-28 18:46:46 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-17.27     total_reward_ma:-24.25  loss:0.2586             fps:725.4
+frame:1.40e+05          wall_t:193              t:8750                  epi:nan
+opt_step:8438           lr:0.001                alpha:0.1743
+2026-02-28 18:46:59 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-12.21     total_reward_ma:-23.44  loss:29.56              fps:724.6
+frame:1.50e+05          wall_t:207              t:9375                  epi:nan
+opt_step:9063           lr:0.001                alpha:0.16
+2026-02-28 18:47:14 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-11.75     total_reward_ma:-22.71  loss:0.2845             fps:724
+frame:1.60e+05          wall_t:221              t:10000                 epi:nan
+opt_step:9688           lr:0.001                alpha:0.1475
+2026-02-28 18:47:28 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-11.77     total_reward_ma:-22.07  loss:0.1154             fps:723.4
+frame:1.70e+05          wall_t:235              t:10625                 epi:nan
+opt_step:10313          lr:0.001                alpha:0.1362
+2026-02-28 18:47:42 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-11.08     total_reward_ma:-21.46  loss:29.28              fps:722.9
+frame:1.80e+05          wall_t:249              t:11250                 epi:nan
+opt_step:10938          lr:0.001                alpha:0.126
+2026-02-28 18:47:55 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-10.39     total_reward_ma:-20.88  loss:0.7691             fps:722.4
+frame:1.90e+05          wall_t:263              t:11875                 epi:nan
+opt_step:11563          lr:0.001                alpha:0.1169
+2026-02-28 18:48:09 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-10.89     total_reward_ma:-20.38  loss:0.1922             fps:722
+frame:2.00e+05          wall_t:277              t:12500                 epi:nan
+opt_step:12188          lr:0.001                alpha:0.108
+2026-02-28 18:48:23 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-10.01     total_reward_ma:-19.88  loss:27.27              fps:721.6
+frame:2.10e+05          wall_t:291              t:13125                 epi:nan
+opt_step:12813          lr:0.001                alpha:0.1007
+2026-02-28 18:48:37 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-9.20      total_reward_ma:-19.40  loss:0.1757             fps:721.3
+frame:2.20e+05          wall_t:305              t:13750                 epi:nan
+opt_step:13438          lr:0.001                alpha:0.09396
+2026-02-28 18:48:51 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-9.02      total_reward_ma:-18.95  loss:0.1095             fps:721
+frame:2.30e+05          wall_t:319              t:14375                 epi:nan
+opt_step:14063          lr:0.001                alpha:0.08779
+2026-02-28 18:49:05 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.70      total_reward_ma:-18.52  loss:26.08              fps:720.7
+frame:2.40e+05          wall_t:333              t:15000                 epi:nan
+opt_step:14688          lr:0.001                alpha:0.08208
+2026-02-28 18:49:19 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.32      total_reward_ma:-18.11  loss:0.05295            fps:720.5
+frame:2.50e+05          wall_t:347              t:15625                 epi:nan
+opt_step:15313          lr:0.001                alpha:0.07685
+2026-02-28 18:49:33 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.21      total_reward_ma:-17.73  loss:20.68              fps:722.2
+frame:2.60e+05          wall_t:360              t:16250                 epi:nan
+opt_step:15938          lr:0.001                alpha:0.07198
+2026-02-28 18:49:47 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-9.53      total_reward_ma:-17.43  loss:25.89              fps:721.9
+frame:2.70e+05          wall_t:374              t:16875                 epi:nan
+opt_step:16563          lr:0.001                alpha:0.06721
+2026-02-28 18:50:01 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.78      total_reward_ma:-17.08  loss:0.6103             fps:719.8
+frame:2.80e+05          wall_t:389              t:17500                 epi:nan
+opt_step:17188          lr:0.001                alpha:0.06344
+2026-02-28 18:50:15 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.10      total_reward_ma:-16.77  loss:0.4629             fps:719.6
+frame:2.90e+05          wall_t:403              t:18125                 epi:nan
+opt_step:17813          lr:0.001                alpha:0.0599
+2026-02-28 18:50:29 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.77      total_reward_ma:-16.47  loss:24.07              fps:719.4
+frame:3.00e+05          wall_t:417              t:18750                 epi:nan
+opt_step:18438          lr:0.001                alpha:0.05658
+2026-02-28 18:50:43 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.41      total_reward_ma:-16.18  loss:0.1088             fps:719.3
+frame:3.10e+05          wall_t:431              t:19375                 epi:nan
+opt_step:19063          lr:0.001                alpha:0.05348
+2026-02-28 18:50:57 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.22      total_reward_ma:-15.90  loss:0.2123             fps:719.1
+frame:3.20e+05          wall_t:445              t:20000                 epi:nan
+opt_step:19688          lr:0.001                alpha:0.05056
+2026-02-28 18:51:12 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-6.92      total_reward_ma:-15.63  loss:27.04              fps:719
+frame:3.30e+05          wall_t:459              t:20625                 epi:nan
+opt_step:20313          lr:0.001                alpha:0.04779
+2026-02-28 18:51:25 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-6.97      total_reward_ma:-15.37  loss:0.2122             fps:718.8
+frame:3.40e+05          wall_t:473              t:21250                 epi:nan
+opt_step:20938          lr:0.001                alpha:0.04525
+2026-02-28 18:51:39 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-12.47     total_reward_ma:-15.29  loss:0.1032             fps:718.7
+frame:3.50e+05          wall_t:487              t:21875                 epi:nan
+opt_step:21563          lr:0.001                alpha:0.04279
+2026-02-28 18:51:53 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.80      total_reward_ma:-15.08  loss:20.15              fps:718.6
+frame:3.60e+05          wall_t:501              t:22500                 epi:nan
+opt_step:22188          lr:0.001                alpha:0.04096
+2026-02-28 18:52:08 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.70      total_reward_ma:-14.88  loss:0.07915            fps:718.4
+frame:3.70e+05          wall_t:515              t:23125                 epi:nan
+opt_step:22813          lr:0.001                alpha:0.0391
+2026-02-28 18:52:22 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:3.80e+05          wall_t:529              t:23750                 epi:nan
+opt_step:23438          lr:0.001                alpha:0.0373
+2026-02-28 18:52:36 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-6.78      total_reward_ma:-14.48  loss:20.72              fps:718.2
+frame:3.90e+05          wall_t:543              t:24375                 epi:nan
+opt_step:24063          lr:0.001                alpha:0.03551
+2026-02-28 18:52:50 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-6.48      total_reward_ma:-14.28  loss:0.2302             fps:718.1
+frame:4.00e+05          wall_t:557              t:25000                 epi:nan
+opt_step:24688          lr:0.001                alpha:0.03384
+2026-02-28 18:53:04 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-6.55      total_reward_ma:-14.09  loss:0.1462             fps:718
+frame:4.10e+05          wall_t:571              t:25625                 epi:nan
+opt_step:25313          lr:0.001                alpha:0.03231
+2026-02-28 18:53:18 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.51      total_reward_ma:-13.96  loss:22.13              fps:717.9
+frame:4.20e+05          wall_t:585              t:26250                 epi:nan
+opt_step:25938          lr:0.001                alpha:0.03058
+2026-02-28 18:53:32 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-6.95      total_reward_ma:-13.79  loss:0.09241            fps:716.7
+frame:4.30e+05          wall_t:600              t:26875                 epi:nan
+opt_step:26563          lr:0.001                alpha:0.02966
+2026-02-28 18:53:46 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:4.40e+05          wall_t:614              t:27500                 epi:nan
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+2026-02-28 18:54:00 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:4.50e+05          wall_t:628              t:28125                 epi:nan
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+2026-02-28 18:54:14 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-5.98      total_reward_ma:-13.29  loss:0.08418            fps:716.5
+frame:4.60e+05          wall_t:642              t:28750                 epi:nan
+opt_step:28438          lr:0.001                alpha:0.02674
+2026-02-28 18:54:28 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-6.14      total_reward_ma:-13.14  loss:0.2288             fps:716.5
+frame:4.70e+05          wall_t:656              t:29375                 epi:nan
+opt_step:29063          lr:0.001                alpha:0.02579
+2026-02-28 18:54:43 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:4.80e+05          wall_t:670              t:30000                 epi:nan
+opt_step:29688          lr:0.001                alpha:0.02497
+2026-02-28 18:54:57 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:4.90e+05          wall_t:684              t:30625                 epi:nan
+opt_step:30313          lr:0.001                alpha:0.02421
+2026-02-28 18:55:11 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-5.68      total_reward_ma:-12.71  loss:0.08409            fps:716.3
+frame:5.00e+05          wall_t:698              t:31250                 epi:nan
+opt_step:30938          lr:0.001                alpha:0.0237
+2026-02-28 18:55:25 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-5.75      total_reward_ma:-12.57  loss:17.74              fps:716.3
+frame:5.10e+05          wall_t:712              t:31875                 epi:nan
+opt_step:31563          lr:0.001                alpha:0.02315
+2026-02-28 18:55:39 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-6.25      total_reward_ma:-12.45  loss:0.1403             fps:716.3
+frame:5.20e+05          wall_t:726              t:32500                 epi:nan
+opt_step:32188          lr:0.001                alpha:0.0226
+2026-02-28 18:55:53 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:5.30e+05          wall_t:740              t:33125                 epi:nan
+opt_step:32813          lr:0.001                alpha:0.02206
+2026-02-28 18:56:07 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:5.40e+05          wall_t:755              t:33750                 epi:nan
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+2026-02-28 19:10:28 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:10:43 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:10:57 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:11:11 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:11:25 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:11:40 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:11:54 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:12:22 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:13:20 | INFO | PID:1410 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-28 19:30:47 | INFO | PID:1410 | slm_lab.lib.logger:info | Session 0 done
diff --git a/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s1.log b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s1.log
new file mode 100644
index 0000000000000000000000000000000000000000..f56166768abc7f7df4e84621436e089f8be397c3
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s1.log
@@ -0,0 +1,801 @@
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+2026-02-28 18:50:52 | INFO | PID:1411 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-28 18:51:06 | INFO | PID:1411 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-28 18:52:00 | INFO | PID:1411 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-28 18:54:05 | INFO | PID:1411 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-28 19:04:39 | INFO | PID:1411 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-28 19:29:34 | INFO | PID:1411 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-28 19:29:48 | INFO | PID:1411 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-28 19:30:03 | INFO | PID:1411 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+opt_step:124688        lr:0.001               alpha:0.01791
+2026-02-28 19:30:05 | INFO | PID:1411 | slm_lab.lib.logger:info | Session 1 done
diff --git a/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s2.log b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s2.log
new file mode 100644
index 0000000000000000000000000000000000000000..a4a17e84634501baf406f25c991943fc7270c60d
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s2.log
@@ -0,0 +1,801 @@
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+2026-02-28 18:43:58 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-28 18:44:11 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-28 18:44:26 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-28 18:44:40 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-28 18:45:07 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-28 18:45:35 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-28 19:13:03 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+frame:1.86e+06         wall_t:2588            t:116250               epi:nan
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+2026-02-28 19:29:44 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-28 19:29:58 | INFO | PID:1412 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+opt_step:124688        lr:0.001               alpha:0.01902
+2026-02-28 19:30:00 | INFO | PID:1412 | slm_lab.lib.logger:info | Session 2 done
diff --git a/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s3.log b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s3.log
new file mode 100644
index 0000000000000000000000000000000000000000..9c3c9cd20fba102a9da8c7ef205ea10f1b079678
--- /dev/null
+++ b/data/crossq_reacher_2026_02_28_184304/log/crossq_reacher_t0_s3.log
@@ -0,0 +1,801 @@
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+2026-02-28 18:54:00 | INFO | PID:1413 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_reacher_t0_s3 [train]
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+2026-02-28 18:54:56 | INFO | PID:1413 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_reacher_t0_s3 [train]
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+2026-02-28 19:07:45 | INFO | PID:1413 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_reacher_t0_s3 [train]
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+2026-02-28 19:07:59 | INFO | PID:1413 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_reacher_t0_s3 [train]
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