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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_df_train.csv b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2e19cd1cf8ad49cb207cf3bf3ef1097154917b9
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_df_train.csv
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_eval.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a8bab0b85921e641241acdca6eb2c4cdae10389
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_eval.json
@@ -0,0 +1,4926 @@
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_scalar_eval.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3a9772721ea227afef54344e2deab51d46fcd36
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_scalar_train.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3a9772721ea227afef54344e2deab51d46fcd36
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
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+  "stability": 0.979195773601532
+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_train.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a8bab0b85921e641241acdca6eb2c4cdae10389
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s0_session_metrics_train.json
@@ -0,0 +1,4926 @@
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_df_eval.csv b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2fd721f77f84bf1e0844f65cb396c05f56cf8406
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_df_eval.csv
@@ -0,0 +1,701 @@
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_df_train.csv b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2fd721f77f84bf1e0844f65cb396c05f56cf8406
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_df_train.csv
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_eval.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..a08235169a5c14c532bdfc4da130362584d57628
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_eval.json
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_scalar_eval.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..919354f6dbc1431c493497bb23e7342c54bb579f
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_scalar_train.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..919354f6dbc1431c493497bb23e7342c54bb579f
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
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+  "stability": 0.9795488119125366
+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_train.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..a08235169a5c14c532bdfc4da130362584d57628
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s1_session_metrics_train.json
@@ -0,0 +1,4926 @@
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\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_df_eval.csv b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fe08a290f33b9d342153b7940ae5db83c824be7
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_df_eval.csv
@@ -0,0 +1,701 @@
+total_reward,total_reward_ma,loss,fps,frame,wall_t,t,epi,opt_step,lr,alpha
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_df_train.csv b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fe08a290f33b9d342153b7940ae5db83c824be7
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_df_train.csv
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_eval.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..80d7882478f1745b01cc31448bc940654176a94f
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_eval.json
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\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_scalar_eval.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..226c332607a067ca31bb1e0a106a24510223b0f2
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
+{
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+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_scalar_train.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..226c332607a067ca31bb1e0a106a24510223b0f2
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
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+  "stability": 0.9781763553619385
+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_train.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..80d7882478f1745b01cc31448bc940654176a94f
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s2_session_metrics_train.json
@@ -0,0 +1,4926 @@
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_df_eval.csv b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b5c05cf76f2846fbfca670aed981f7426d60cee
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_df_eval.csv
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_df_train.csv b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b5c05cf76f2846fbfca670aed981f7426d60cee
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_df_train.csv
@@ -0,0 +1,701 @@
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_eval.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb80b5b0b1cce95f62e3b80cfc10bbb2c4406a16
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_eval.json
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+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_scalar_eval.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a9e3bb95e04e216ff7dfd7fae8d981ce7f8c23
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
+{
+  "total_reward_ma": 924.6035766601562,
+  "strength": 823.169189453125,
+  "max_strength": 994.719970703125,
+  "final_strength": 604.6799926757812,
+  "sample_efficiency": 6.281438231781067e-07,
+  "training_efficiency": 1.0325021321477834e-05,
+  "stability": 0.9801663160324097
+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_scalar_train.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a9e3bb95e04e216ff7dfd7fae8d981ce7f8c23
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
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+  "stability": 0.9801663160324097
+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_train.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb80b5b0b1cce95f62e3b80cfc10bbb2c4406a16
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_s3_session_metrics_train.json
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diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_trial_metrics.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_trial_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0897d53304ac98cf7dfad4c556c256620b10e9d9
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_trial_metrics.json
@@ -0,0 +1,16167 @@
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+    ]
+  }
+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_trial_metrics_scalar.json b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_trial_metrics_scalar.json
new file mode 100644
index 0000000000000000000000000000000000000000..64f3d592f0bce7e8ac5253f33fb1da283c857474
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/info/crossq_inverted_pendulum_t0_trial_metrics_scalar.json
@@ -0,0 +1,11 @@
+{
+  "frame": 7000000.0,
+  "total_reward_ma": 877.8251342773438,
+  "strength": 815.4356079101562,
+  "max_strength": 994.719970703125,
+  "final_strength": 863.3049926757812,
+  "sample_efficiency": 6.380510058079381e-07,
+  "training_efficiency": 1.0507937986403704e-05,
+  "stability": 0.9792717695236206,
+  "consistency": 0.5952883958816528
+}
\ No newline at end of file
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0.log b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0.log
new file mode 100644
index 0000000000000000000000000000000000000000..e81130d930cccc9a52a464ec4733fdb358146b0a
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0.log
@@ -0,0 +1,5 @@
+2026-02-28 21:28:30 | INFO | PID:1333 | slm_lab.lib.logger:info | trial_metrics: frame:7.00e+06 | total_reward_ma:877.83 | strength:815.4 | max_strength:994.7 | final_strength:863.3 | sample_efficiency:6.381e-07 | training_efficiency:1.051e-05 | stability:0.9793 | consistency:0.5953
+2026-02-28 21:28:30 | INFO | PID:1333 | slm_lab.lib.logger:info | Trial 0 done
+2026-02-28 21:28:30 | INFO | PID:1333 | slm_lab.cli.main:run_spec | Output: data/crossq_inverted_pendulum_2026_02_28_184348
+2026-02-28 21:28:30 | INFO | PID:1333 | slm_lab.lib.hf:cleanup_models | Cleanup saved 37.1 MB
+2026-02-28 21:28:31 | INFO | PID:1333 | slm_lab.lib.hf:upload | Uploading data/crossq_inverted_pendulum_2026_02_28_184348 to SLM-Lab/benchmark-dev/data/crossq_inverted_pendulum_2026_02_28_184348...
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s0.log b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s0.log
new file mode 100644
index 0000000000000000000000000000000000000000..03008f9398dc484d821f26d9609326d8be15880e
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s0.log
@@ -0,0 +1,2947 @@
+2026-02-28 18:44:17 | INFO | PID:1484 | slm_lab.env:_make_vector_env | Action rescaling: [-3.0, 3.0] → [-1, 1]
+2026-02-28 18:44:21 | INFO | PID:1484 | 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 18:44:21 | INFO | PID:1484 | 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=4, out_features=256, bias=True)
+      (1): ReLU()
+      (2): Linear(in_features=256, out_features=256, bias=True)
+      (3): ReLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=256, out_features=2, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 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=5, out_features=512, bias=True)
+      (1): BatchRenorm1d(512, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (2): ReLU()
+      (3): Linear(in_features=512, out_features=512, bias=True)
+      (4): BatchRenorm1d(512, 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=512, out_features=1, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+q2_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=5, out_features=512, bias=True)
+      (1): BatchRenorm1d(512, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (2): ReLU()
+      (3): Linear(in_features=512, out_features=512, bias=True)
+      (4): BatchRenorm1d(512, 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=512, 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: -1
+_entropy_anneal_frames: 0
+log_alpha: tensor([0.], device='cuda:0', requires_grad=True)
+alpha: tensor([1.], device='cuda:0')
+alpha_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 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 18:44:29 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:1.00e+04         wall_t:11              t:625                  epi:nan
+opt_step:313           lr:0.001               alpha:0.9134
+2026-02-28 18:44:42 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:2.00e+04         wall_t:25              t:1250                 epi:nan
+opt_step:938           lr:0.001               alpha:0.8658
+2026-02-28 18:44:55 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:3.00e+04         wall_t:38              t:1875                 epi:nan
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+2026-02-28 18:45:10 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:4.00e+04          wall_t:52               t:2500                  epi:nan
+opt_step:2188           lr:0.001                alpha:0.6705
+2026-02-28 18:45:23 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
+total_reward:290.16     total_reward_ma:146.93  loss:84.85              fps:757.6
+frame:5.00e+04          wall_t:66               t:3125                  epi:nan
+opt_step:2813           lr:0.001                alpha:0.5743
+2026-02-28 18:45:37 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:6.00e+04          wall_t:80               t:3750                  epi:nan
+opt_step:3438           lr:0.001                alpha:0.491
+2026-02-28 18:45:51 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:7.00e+04          wall_t:93               t:4375                  epi:nan
+opt_step:4063           lr:0.001                alpha:0.4206
+2026-02-28 18:46:04 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:8.00e+04          wall_t:107              t:5000                  epi:nan
+opt_step:4688           lr:0.001                alpha:0.3639
+2026-02-28 18:46:18 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:9.00e+04          wall_t:120              t:5625                  epi:nan
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+2026-02-28 18:46:31 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
+total_reward:668.70     total_reward_ma:353.75  loss:5.122              fps:746.3
+frame:1.00e+05          wall_t:134              t:6250                  epi:nan
+opt_step:5938           lr:0.001                alpha:0.2811
+2026-02-28 18:46:45 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:1.10e+05          wall_t:148              t:6875                  epi:nan
+opt_step:6563           lr:0.001                alpha:0.2528
+2026-02-28 18:46:59 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
+total_reward:846.03     total_reward_ma:430.62  loss:-25.23             fps:745.3
+frame:1.20e+05          wall_t:161              t:7500                  epi:nan
+opt_step:7188           lr:0.001                alpha:0.2243
+2026-02-28 18:47:12 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
+total_reward:706.90     total_reward_ma:451.87  loss:100.6              fps:742.9
+frame:1.30e+05          wall_t:175              t:8125                  epi:nan
+opt_step:7813           lr:0.001                alpha:0.2027
+2026-02-28 18:47:26 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
+total_reward:546.75     total_reward_ma:458.65  loss:82.3               fps:744.7
+frame:1.40e+05          wall_t:188              t:8750                  epi:nan
+opt_step:8438           lr:0.001                alpha:0.1836
+2026-02-28 18:47:39 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
+total_reward:534.54     total_reward_ma:463.71  loss:-70.21             fps:742.6
+frame:1.50e+05          wall_t:202              t:9375                  epi:nan
+opt_step:9063           lr:0.001                alpha:0.1668
+2026-02-28 18:47:53 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
+total_reward:524.60     total_reward_ma:467.51  loss:8.483              fps:740.7
+frame:1.60e+05          wall_t:216              t:10000                 epi:nan
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+2026-02-28 18:48:07 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:1.70e+05          wall_t:229              t:10625                 epi:nan
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+2026-02-28 18:48:20 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+2026-02-28 18:48:34 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:1.90e+05          wall_t:257              t:11875                 epi:nan
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+2026-02-28 18:48:48 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:2.00e+05          wall_t:270              t:12500                 epi:nan
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+frame:2.10e+05          wall_t:284              t:13125                 epi:nan
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+2026-02-28 18:49:15 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+frame:2.20e+05          wall_t:298              t:13750                 epi:nan
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+2026-02-28 18:49:29 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
+total_reward:539.69     total_reward_ma:510.50  loss:12.9               fps:739.5
+frame:2.30e+05          wall_t:311              t:14375                 epi:nan
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+2026-02-28 18:49:42 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+2026-02-28 21:11:02 | INFO | PID:1484 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_inverted_pendulum_t0_s0 [train]
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+2026-02-28 21:28:26 | INFO | PID:1484 | slm_lab.lib.logger:info | Session 0 done
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s1.log b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s1.log
new file mode 100644
index 0000000000000000000000000000000000000000..3bba128160a1cc951a87aaa1beeb42a7f3c17855
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s1.log
@@ -0,0 +1,2802 @@
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+2026-02-28 21:23:33 | INFO | PID:1485 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_inverted_pendulum_t0_s1 [train]
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+2026-02-28 21:23:46 | INFO | PID:1485 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_inverted_pendulum_t0_s1 [train]
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+2026-02-28 21:24:00 | INFO | PID:1485 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_inverted_pendulum_t0_s1 [train]
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+frame:7.00e+06          wall_t:9583             t:437500                epi:nan
+opt_step:437188         lr:0.001                alpha:0.006738
+2026-02-28 21:24:03 | INFO | PID:1485 | slm_lab.lib.logger:info | Session 1 done
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s2.log b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s2.log
new file mode 100644
index 0000000000000000000000000000000000000000..414815a3cef8bc4b387026e5d97978a9bf24dc67
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s2.log
@@ -0,0 +1,2802 @@
+2026-02-28 18:44:17 | INFO | PID:1486 | slm_lab.env:_make_vector_env | Action rescaling: [-3.0, 3.0] → [-1, 1]
+2026-02-28 18:44:29 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 18:44:42 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 18:45:10 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 19:29:14 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:08:55 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:09:09 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:09:23 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:09:37 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:09:50 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:10:04 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:10:18 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:10:32 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:10:46 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:11:00 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:11:13 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:11:27 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:11:41 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:11:54 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:12:08 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:12:22 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:12:36 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:12:50 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:13:04 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:13:17 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:13:31 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:13:45 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:13:59 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:14:12 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:14:26 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:14:40 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:14:54 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:15:07 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:35:25 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 20:48:33 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 21:01:58 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 21:02:39 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 21:02:53 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 21:03:07 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 21:24:36 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 21:24:49 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+2026-02-28 21:25:02 | INFO | PID:1486 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_inverted_pendulum_t0_s2 [train]
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+opt_step:437188         lr:0.001                alpha:0.02327
+2026-02-28 21:25:04 | INFO | PID:1486 | slm_lab.lib.logger:info | Session 2 done
diff --git a/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s3.log b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s3.log
new file mode 100644
index 0000000000000000000000000000000000000000..ebf94daabea73c86b10978d1f0226ad23037dd6c
--- /dev/null
+++ b/data/crossq_inverted_pendulum_2026_02_28_184348/log/crossq_inverted_pendulum_t0_s3.log
@@ -0,0 +1,2802 @@
+2026-02-28 18:44:17 | INFO | PID:1487 | slm_lab.env:_make_vector_env | Action rescaling: [-3.0, 3.0] → [-1, 1]
+2026-02-28 18:44:29 | INFO | PID:1487 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_inverted_pendulum_t0_s3 [train]
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+2026-02-28 18:44:42 | INFO | PID:1487 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_inverted_pendulum_t0_s3 [train]
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+2026-02-28 18:44:55 | INFO | PID:1487 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_inverted_pendulum_t0_s3 [train]
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+2026-02-28 18:45:09 | INFO | PID:1487 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_inverted_pendulum_t0_s3 [train]
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+2026-02-28 18:45:23 | INFO | PID:1487 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_inverted_pendulum_t0_s3 [train]
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+2026-02-28 21:11:22 | INFO | PID:1487 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_inverted_pendulum_t0_s3 [train]
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+2026-02-28 21:24:15 | INFO | PID:1487 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_inverted_pendulum_t0_s3 [train]
+total_reward:609.96     total_reward_ma:924.60  loss:0.04976            fps:729.4
+frame:7.00e+06          wall_t:9597             t:437500                epi:nan
+opt_step:437188         lr:0.001                alpha:0.008378
+2026-02-28 21:24:17 | INFO | PID:1487 | slm_lab.lib.logger:info | Session 3 done
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