D:\Projects\lejepa_control\third_party\stable-worldmodel\stable_worldmodel\envs\__init__.py:215: UserWarning: ale-py not found; ALE/* envs are unavailable. Install with: pip install 'stable-worldmodel[env]' or pip install ale-py. from stable_worldmodel.envs import ale # noqa: F401 2026-08-08 11:00:15.107 | INFO  | stable_worldmodel.wm.utils:_resolve_hf:150 - Loading quentinll/lewm-pusht from local cache... 2026-08-08 11:00:15.107 | INFO  | stable_worldmodel.wm.utils:_resolve_folder:138 - Loading checkpoint from folder D:\Projects\lejepa_control\data\swm_home\checkpoints\models--quentinll--lewm-pusht... W0808 11:00:24.697000 54668 site-packages\torch\utils\flop_counter.py:29] triton not found; flop counting will not work for triton kernels 11:00:25 | INFO  | atomic_chec~| [atomic_save] installed crash-safe checkpoint plugin (write to sibling .tmp + fsync + atomic rename) 11:00:25 | INFO  | utils.py | Created ViT-tiny from scratch with config: {'hidden_size': 192, 'num_hidden_layers': 12, 'num_attention_heads': 3, 'intermediate_size': 768, 'image_size': 224, 'patch_size': 14} C:\Users\omnap\miniconda3\envs\llmdyn\Lib\site-packages\torch\nn\modules\module.py:1370: UserWarning: expandable_segments not supported on this platform (Triggered internally at C:\actions-runner\_work\pytorch\pytorch\pytorch\c10/cuda/CUDAAllocatorConfig.h:39.) return t.to( stage D planner 1.96M params n=6 T=3 H=[(0, 3), (10000, 5)] feedback=True warm_start=True support model loaded, c95=1.5306 (lambda_support=0.01) phi/psi pretrain: 1.8121 -> 0.0039 over 400 steps step 100 H=3 q<=2 loss 1.4243 arrival 1.1380 grad 6.06 8.47 it/s cycles [0.45936, 0.4457, 0.43914] viol 0.217 anchor 0.1203 sat 0.000 step 200 H=3 q<=2 loss 1.4312 arrival 1.1473 grad 6.06 9.28 it/s cycles [0.61822, 0.59202, 0.57702] viol 0.129 anchor 0.2239 sat 0.000 step 300 H=3 q<=2 loss 1.4680 arrival 1.1702 grad 8.15 9.56 it/s cycles [0.96192, 0.92671, 0.89936] viol 0.096 anchor 0.2750 sat 0.000 step 400 H=3 q<=2 loss 1.3265 arrival 1.0490 grad 7.96 9.73 it/s cycles [0.79346, 0.76885, 0.75613] viol 0.061 anchor 0.2883 sat 0.000 step 500 H=3 q<=2 loss 1.2671 arrival 0.9923 grad 11.05 9.76 it/s cycles [0.69103, 0.68349, 0.70141] viol 0.046 anchor 0.2619 sat 0.000 step 600 H=3 q<=2 loss 1.0739 arrival 0.8329 grad 9.96 9.87 it/s cycles [0.7525, 0.69496, 0.64804] viol 0.041 anchor 0.2317 sat 0.000 step 700 H=3 q<=2 loss 1.0015 arrival 0.7663 grad 10.37 9.93 it/s cycles [0.87761, 0.69774, 0.63968] viol 0.047 anchor 0.1895 sat 0.000 step 800 H=3 q<=2 loss 0.8582 arrival 0.6525 grad 9.79 9.95 it/s cycles [0.76412, 0.51929, 0.46806] viol 0.089 anchor 0.1175 sat 0.000 step 900 H=3 q<=2 loss 0.8069 arrival 0.6134 grad 9.76 9.99 it/s cycles [0.78694, 0.60555, 0.50194] viol 0.126 anchor 0.1106 sat 0.000 step 1000 H=3 q<=2 loss 0.6965 arrival 0.5225 grad 7.89 10.01 it/s cycles [0.82348, 0.65612, 0.58839] viol 0.163 anchor 0.0997 sat 0.000 [val] arrival 1.1648 terminal 1.1695 per_step [1.7227, 1.263, 1.1695] per_cycle [1.7084, 1.4864, 1.3851] step 1100 H=3 q<=2 loss 0.6765 arrival 0.5051 grad 8.95 9.87 it/s cycles [0.78082, 0.53104, 0.4179] viol 0.206 anchor 0.0870 sat 0.000 step 1200 H=3 q<=2 loss 0.6084 arrival 0.4515 grad 7.72 9.89 it/s cycles [0.5657, 0.33096, 0.23885] viol 0.267 anchor 0.0853 sat 0.000 step 1300 H=3 q<=2 loss 0.5864 arrival 0.4314 grad 7.15 9.91 it/s cycles [0.59852, 0.42842, 0.37375] viol 0.267 anchor 0.0884 sat 0.000 step 1400 H=3 q<=2 loss 0.5623 arrival 0.4106 grad 7.01 9.93 it/s cycles [0.70491, 0.45456, 0.36956] viol 0.292 anchor 0.0829 sat 0.000 step 1500 H=3 q<=2 loss 0.5224 arrival 0.3775 grad 6.97 9.93 it/s cycles [0.38396, 0.21937, 0.16486] viol 0.300 anchor 0.0829 sat 0.000 step 1600 H=3 q<=2 loss 0.4842 arrival 0.3470 grad 6.27 9.95 it/s cycles [0.47643, 0.28818, 0.23867] viol 0.262 anchor 0.0771 sat 0.000 step 1700 H=3 q<=2 loss 0.4903 arrival 0.3502 grad 5.99 9.96 it/s cycles [0.57916, 0.31449, 0.23673] viol 0.281 anchor 0.0667 sat 0.000 step 1800 H=3 q<=2 loss 0.5000 arrival 0.3533 grad 6.66 9.97 it/s cycles [0.72642, 0.4541, 0.3503] viol 0.322 anchor 0.0675 sat 0.000 step 1900 H=3 q<=2 loss 0.4593 arrival 0.3220 grad 5.56 9.97 it/s cycles [0.52905, 0.31632, 0.26326] viol 0.307 anchor 0.0620 sat 0.000 step 2000 H=3 q<=2 loss 0.4541 arrival 0.3162 grad 5.71 9.99 it/s cycles [0.57692, 0.32522, 0.25619] viol 0.316 anchor 0.0637 sat 0.000 [val] arrival 1.0516 terminal 1.0752 per_step [1.5483, 1.0839, 1.0752] per_cycle [1.7287, 1.3658, 1.2358] step 2100 H=3 q<=2 loss 0.4347 arrival 0.2966 grad 5.66 9.93 it/s cycles [0.55731, 0.23114, 0.1432] viol 0.345 anchor 0.0615 sat 0.000 step 2200 H=3 q<=2 loss 0.4286 arrival 0.2902 grad 5.05 9.95 it/s cycles [0.61541, 0.35192, 0.28371] viol 0.327 anchor 0.0627 sat 0.000 step 2300 H=3 q<=2 loss 0.4204 arrival 0.2835 grad 5.47 9.97 it/s cycles [0.44295, 0.23463, 0.19713] viol 0.313 anchor 0.0646 sat 0.000 step 2400 H=3 q<=2 loss 0.4195 arrival 0.2804 grad 5.20 9.98 it/s cycles [0.59525, 0.28454, 0.19952] viol 0.314 anchor 0.0673 sat 0.000 step 2500 H=3 q<=2 loss 0.3972 arrival 0.2613 grad 5.49 10.00 it/s cycles [0.4971, 0.21949, 0.1448] viol 0.282 anchor 0.0656 sat 0.000 step 2600 H=3 q<=2 loss 0.4213 arrival 0.2792 grad 5.47 10.01 it/s cycles [0.49166, 0.26782, 0.21725] viol 0.305 anchor 0.0644 sat 0.000 step 2700 H=3 q<=2 loss 0.4101 arrival 0.2678 grad 5.49 10.02 it/s cycles [0.43113, 0.18723, 0.15076] viol 0.309 anchor 0.0662 sat 0.000 step 2800 H=3 q<=2 loss 0.3869 arrival 0.2470 grad 4.78 10.00 it/s cycles [0.47698, 0.19095, 0.12877] viol 0.291 anchor 0.0666 sat 0.000 step 2900 H=3 q<=2 loss 0.3948 arrival 0.2512 grad 5.12 10.00 it/s cycles [0.59246, 0.26356, 0.20162] viol 0.324 anchor 0.0619 sat 0.000 step 3000 H=3 q<=2 loss 0.3882 arrival 0.2431 grad 5.04 10.00 it/s cycles [0.5927, 0.25125, 0.18132] viol 0.325 anchor 0.0629 sat 0.000 [val] arrival 0.9183 terminal 0.9252 per_step [1.4882, 0.9688, 0.9252] per_cycle [1.6684, 1.2518, 1.1274] step 3100 H=3 q<=2 loss 0.3763 arrival 0.2304 grad 5.13 9.96 it/s cycles [0.4683, 0.20295, 0.15642] viol 0.324 anchor 0.0640 sat 0.000 step 3200 H=3 q<=2 loss 0.4219 arrival 0.2585 grad 5.32 9.94 it/s cycles [0.70254, 0.30058, 0.21634] viol 0.354 anchor 0.0809 sat 0.000 step 3300 H=3 q<=2 loss 0.3825 arrival 0.2290 grad 4.76 9.89 it/s cycles [0.56923, 0.28163, 0.23494] viol 0.412 anchor 0.0678 sat 0.000 step 3400 H=3 q<=2 loss 0.3812 arrival 0.2201 grad 4.86 9.86 it/s cycles [0.57352, 0.26484, 0.18124] viol 0.459 anchor 0.0668 sat 0.000 step 3500 H=3 q<=2 loss 0.3634 arrival 0.2048 grad 4.77 9.84 it/s cycles [0.56679, 0.21595, 0.15139] viol 0.525 anchor 0.0666 sat 0.000 step 3600 H=3 q<=2 loss 0.3915 arrival 0.2205 grad 4.59 9.80 it/s cycles [0.48335, 0.19105, 0.14943] viol 0.531 anchor 0.0717 sat 0.000 step 3700 H=3 q<=2 loss 0.3885 arrival 0.2137 grad 4.65 9.80 it/s cycles [0.56802, 0.28438, 0.20337] viol 0.561 anchor 0.0683 sat 0.000 step 3800 H=3 q<=2 loss 0.4097 arrival 0.2287 grad 4.93 9.79 it/s cycles [0.6402, 0.30244, 0.15642] viol 0.547 anchor 0.0685 sat 0.000 step 3900 H=3 q<=2 loss 0.3891 arrival 0.2070 grad 4.52 9.78 it/s cycles [0.48769, 0.19892, 0.16331] viol 0.601 anchor 0.0694 sat 0.000 step 4000 H=3 q<=2 loss 0.3937 arrival 0.1982 grad 4.51 9.77 it/s cycles [0.53071, 0.2321, 0.16596] viol 0.660 anchor 0.0692 sat 0.000 [val] arrival 0.8909 terminal 0.9023 per_step [1.2904, 0.8924, 0.9023] per_cycle [1.607, 1.1577, 1.0284] step 4100 H=3 q<=2 loss 0.4366 arrival 0.2260 grad 4.54 9.74 it/s cycles [0.58203, 0.25484, 0.18605] viol 0.721 anchor 0.0705 sat 0.000 step 4200 H=3 q<=2 loss 0.4335 arrival 0.2248 grad 5.15 9.74 it/s cycles [0.67308, 0.26614, 0.1494] viol 0.711 anchor 0.0655 sat 0.000 step 4300 H=3 q<=2 loss 0.4072 arrival 0.2027 grad 4.12 9.73 it/s cycles [0.47306, 0.15427, 0.12175] viol 0.809 anchor 0.0611 sat 0.000 step 4400 H=3 q<=2 loss 0.4033 arrival 0.1993 grad 4.37 9.71 it/s cycles [0.56506, 0.19644, 0.16314] viol 0.779 anchor 0.0662 sat 0.000 step 4500 H=3 q<=2 loss 0.4162 arrival 0.2166 grad 4.77 9.67 it/s cycles [0.52574, 0.21259, 0.14786] viol 0.742 anchor 0.0587 sat 0.000 step 4600 H=3 q<=2 loss 0.3929 arrival 0.2016 grad 4.55 9.62 it/s cycles [0.4666, 0.16146, 0.11677] viol 0.733 anchor 0.0572 sat 0.000 step 4700 H=3 q<=2 loss 0.4057 arrival 0.2166 grad 4.54 9.60 it/s cycles [0.59025, 0.21156, 0.13663] viol 0.783 anchor 0.0542 sat 0.000 step 4800 H=3 q<=2 loss 0.3656 arrival 0.1931 grad 4.35 9.59 it/s cycles [0.70013, 0.20983, 0.15531] viol 0.743 anchor 0.0492 sat 0.000 step 4900 H=3 q<=2 loss 0.3686 arrival 0.1961 grad 4.14 9.58 it/s cycles [0.78779, 0.23901, 0.14425] viol 0.809 anchor 0.0432 sat 0.000 step 5000 H=3 q<=2 loss 0.3729 arrival 0.1944 grad 4.53 9.58 it/s cycles [0.82311, 0.31461, 0.19581] viol 0.858 anchor 0.0424 sat 0.000 [val] arrival 0.8771 terminal 0.8847 per_step [1.2374, 0.8714, 0.8847] per_cycle [1.6322, 1.1222, 0.9978] step 5100 H=3 q<=3 loss 0.5288 arrival 0.2817 grad 5.70 9.55 it/s cycles [0.66015, 0.2857, 0.15005] viol 0.867 anchor 0.0489 sat 0.000 step 5200 H=3 q<=3 loss 0.4502 arrival 0.2285 grad 4.75 9.55 it/s cycles [0.65165, 0.28052, 0.19473] viol 0.885 anchor 0.0472 sat 0.000 step 5300 H=3 q<=3 loss 0.4255 arrival 0.2057 grad 4.70 9.54 it/s cycles [0.73347, 0.37601, 0.28313] viol 0.934 anchor 0.0431 sat 0.000 step 5400 H=3 q<=3 loss 0.4194 arrival 0.2119 grad 4.52 9.53 it/s cycles [0.66061, 0.34793, 0.25141] viol 0.951 anchor 0.0394 sat 0.000 step 5500 H=3 q<=3 loss 0.3849 arrival 0.1842 grad 4.38 9.52 it/s cycles [0.62975, 0.29677, 0.19487] viol 0.943 anchor 0.0379 sat 0.000 step 5600 H=3 q<=3 loss 0.3838 arrival 0.1987 grad 4.19 9.52 it/s cycles [0.46845, 0.17623, 0.12565] viol 0.897 anchor 0.0337 sat 0.000 step 5700 H=3 q<=3 loss 0.3554 arrival 0.1855 grad 4.19 9.51 it/s cycles [0.55335, 0.27798, 0.1856] viol 0.874 anchor 0.0300 sat 0.000 step 5800 H=3 q<=3 loss 0.3444 arrival 0.1819 grad 3.87 9.50 it/s cycles [0.58111, 0.30339, 0.22433] viol 0.848 anchor 0.0273 sat 0.000 step 5900 H=3 q<=3 loss 0.3252 arrival 0.1680 grad 3.63 9.50 it/s cycles [0.66604, 0.33998, 0.26775] viol 0.871 anchor 0.0240 sat 0.000 step 6000 H=3 q<=3 loss 0.3375 arrival 0.1742 grad 3.86 9.48 it/s cycles [0.53372, 0.21369, 0.13444] viol 0.849 anchor 0.0246 sat 0.000 [val] arrival 0.3996 terminal 0.4038 per_step [0.8525, 0.4548, 0.4038] per_cycle [1.0729, 0.6796, 0.5704] step 6100 H=3 q<=3 loss 0.3298 arrival 0.1691 grad 3.70 9.44 it/s cycles [0.51747, 0.24385, 0.17847] viol 0.884 anchor 0.0247 sat 0.000 step 6200 H=3 q<=3 loss 0.3306 arrival 0.1720 grad 4.29 9.43 it/s cycles [0.74429, 0.42567, 0.32177] viol 0.896 anchor 0.0225 sat 0.000 step 6300 H=3 q<=3 loss 0.3303 arrival 0.1757 grad 3.90 9.42 it/s cycles [0.65136, 0.27599, 0.18142] viol 0.876 anchor 0.0227 sat 0.000 step 6400 H=3 q<=3 loss 0.3159 arrival 0.1634 grad 3.60 9.42 it/s cycles [0.54561, 0.29294, 0.22815] viol 0.854 anchor 0.0227 sat 0.000 step 6500 H=3 q<=3 loss 0.3130 arrival 0.1637 grad 4.07 9.42 it/s cycles [0.5649, 0.18417, 0.10161] viol 0.809 anchor 0.0228 sat 0.000 step 6600 H=3 q<=3 loss 0.3021 arrival 0.1583 grad 3.54 9.42 it/s cycles [0.56495, 0.23869, 0.15969] viol 0.813 anchor 0.0210 sat 0.000 step 6700 H=3 q<=3 loss 0.2906 arrival 0.1507 grad 3.50 9.42 it/s cycles [0.72828, 0.28285, 0.23759] viol 0.801 anchor 0.0200 sat 0.000 step 6800 H=3 q<=3 loss 0.3013 arrival 0.1591 grad 3.54 9.43 it/s cycles [0.7396, 0.46561, 0.39166] viol 0.779 anchor 0.0193 sat 0.000 step 6900 H=3 q<=3 loss 0.2845 arrival 0.1504 grad 3.33 9.43 it/s cycles [0.79627, 0.37044, 0.27533] viol 0.811 anchor 0.0178 sat 0.000 step 7000 H=3 q<=3 loss 0.2759 arrival 0.1435 grad 3.32 9.44 it/s cycles [0.5968, 0.2349, 0.17871] viol 0.776 anchor 0.0178 sat 0.000 [val] arrival 0.3188 terminal 0.3252 per_step [0.7577, 0.3854, 0.3252] per_cycle [1.0127, 0.5924, 0.4895] step 7100 H=3 q<=3 loss 0.2661 arrival 0.1379 grad 3.11 9.44 it/s cycles [0.83568, 0.47056, 0.38833] viol 0.749 anchor 0.0164 sat 0.000 step 7200 H=3 q<=3 loss 0.2793 arrival 0.1474 grad 3.44 9.44 it/s cycles [0.59519, 0.27622, 0.1951] viol 0.774 anchor 0.0173 sat 0.000 step 7300 H=3 q<=3 loss 0.2653 arrival 0.1355 grad 3.21 9.45 it/s cycles [0.75204, 0.33859, 0.24337] viol 0.786 anchor 0.0166 sat 0.000 step 7400 H=3 q<=3 loss 0.2701 arrival 0.1410 grad 3.38 9.45 it/s cycles [0.57975, 0.19707, 0.1483] viol 0.776 anchor 0.0173 sat 0.000 step 7500 H=3 q<=3 loss 0.2452 arrival 0.1228 grad 2.90 9.46 it/s cycles [0.7081, 0.30639, 0.23848] viol 0.784 anchor 0.0160 sat 0.000 step 7600 H=3 q<=3 loss 0.2548 arrival 0.1284 grad 3.05 9.46 it/s cycles [0.57794, 0.25153, 0.20992] viol 0.816 anchor 0.0155 sat 0.000 step 7700 H=3 q<=3 loss 0.2550 arrival 0.1305 grad 2.96 9.47 it/s cycles [0.68914, 0.30337, 0.19295] viol 0.838 anchor 0.0145 sat 0.000 step 7800 H=3 q<=3 loss 0.2541 arrival 0.1244 grad 3.20 9.46 it/s cycles [0.75085, 0.36401, 0.25935] viol 0.856 anchor 0.0154 sat 0.000 step 7900 H=3 q<=3 loss 0.2629 arrival 0.1338 grad 3.49 9.47 it/s cycles [0.63252, 0.27471, 0.18084] viol 0.842 anchor 0.0155 sat 0.000 step 8000 H=3 q<=3 loss 0.2758 arrival 0.1425 grad 3.46 9.47 it/s cycles [0.51786, 0.22132, 0.19328] viol 0.853 anchor 0.0153 sat 0.000 [val] arrival 0.3898 terminal 0.3946 per_step [0.9283, 0.4707, 0.3946] per_cycle [1.0784, 0.6761, 0.5979] step 8100 H=3 q<=3 loss 0.2660 arrival 0.1388 grad 3.13 9.46 it/s cycles [0.62991, 0.21629, 0.18058] viol 0.831 anchor 0.0148 sat 0.000 step 8200 H=3 q<=3 loss 0.2712 arrival 0.1392 grad 3.15 9.45 it/s cycles [0.58774, 0.27176, 0.21049] viol 0.819 anchor 0.0157 sat 0.000 step 8300 H=3 q<=3 loss 0.2579 arrival 0.1309 grad 3.20 9.46 it/s cycles [0.46582, 0.16129, 0.11382] viol 0.825 anchor 0.0165 sat 0.000 step 8400 H=3 q<=3 loss 0.2428 arrival 0.1183 grad 2.89 9.47 it/s cycles [0.63749, 0.32263, 0.21865] viol 0.832 anchor 0.0154 sat 0.000 step 8500 H=3 q<=3 loss 0.2453 arrival 0.1219 grad 3.19 9.47 it/s cycles [0.48111, 0.22551, 0.14765] viol 0.841 anchor 0.0150 sat 0.000 step 8600 H=3 q<=3 loss 0.2476 arrival 0.1238 grad 3.02 9.48 it/s cycles [0.64611, 0.31057, 0.23502] viol 0.826 anchor 0.0151 sat 0.000 step 8700 H=3 q<=3 loss 0.2416 arrival 0.1209 grad 2.88 9.48 it/s cycles [0.49036, 0.18617, 0.14069] viol 0.799 anchor 0.0142 sat 0.000 step 8800 H=3 q<=3 loss 0.2359 arrival 0.1199 grad 3.01 9.49 it/s cycles [0.52566, 0.21822, 0.14936] viol 0.768 anchor 0.0139 sat 0.000 step 8900 H=3 q<=3 loss 0.2386 arrival 0.1178 grad 3.03 9.50 it/s cycles [0.83631, 0.32207, 0.22535] viol 0.775 anchor 0.0145 sat 0.000 step 9000 H=3 q<=3 loss 0.2505 arrival 0.1288 grad 3.11 9.50 it/s cycles [0.75887, 0.29804, 0.2235] viol 0.746 anchor 0.0131 sat 0.000 [val] arrival 0.2645 terminal 0.2723 per_step [0.7842, 0.3367, 0.2723] per_cycle [1.0192, 0.5649, 0.4644] step 9100 H=3 q<=3 loss 0.2445 arrival 0.1229 grad 3.04 9.49 it/s cycles [0.71615, 0.32925, 0.27488] viol 0.739 anchor 0.0146 sat 0.000 step 9200 H=3 q<=3 loss 0.2307 arrival 0.1137 grad 2.53 9.50 it/s cycles [0.59795, 0.2825, 0.21472] viol 0.730 anchor 0.0139 sat 0.000 step 9300 H=3 q<=3 loss 0.2261 arrival 0.1138 grad 2.89 9.50 it/s cycles [0.73094, 0.28407, 0.196] viol 0.715 anchor 0.0137 sat 0.000 step 9400 H=3 q<=3 loss 0.2412 arrival 0.1232 grad 3.10 9.51 it/s cycles [0.59509, 0.2461, 0.17318] viol 0.681 anchor 0.0132 sat 0.000 step 9500 H=3 q<=3 loss 0.2366 arrival 0.1186 grad 2.90 9.51 it/s cycles [0.48775, 0.17487, 0.12141] viol 0.683 anchor 0.0139 sat 0.000 step 9600 H=3 q<=3 loss 0.2158 arrival 0.1059 grad 2.33 9.51 it/s cycles [0.76166, 0.3339, 0.30483] viol 0.677 anchor 0.0140 sat 0.000 step 9700 H=3 q<=3 loss 0.2327 arrival 0.1177 grad 2.92 9.52 it/s cycles [0.74755, 0.31495, 0.23513] viol 0.679 anchor 0.0133 sat 0.000 step 9800 H=3 q<=3 loss 0.2271 arrival 0.1143 grad 2.71 9.52 it/s cycles [0.62718, 0.25856, 0.1867] viol 0.687 anchor 0.0134 sat 0.000 step 9900 H=3 q<=3 loss 0.2139 arrival 0.1050 grad 2.58 9.53 it/s cycles [0.72286, 0.24924, 0.17309] viol 0.681 anchor 0.0139 sat 0.000 step 10000 H=3 q<=3 loss 0.2143 arrival 0.1052 grad 2.64 9.53 it/s cycles [0.5774, 0.20913, 0.15939] viol 0.677 anchor 0.0137 sat 0.000 [val] arrival 0.3050 terminal 0.3107 per_step [0.8525, 0.3868, 0.3107] per_cycle [1.0468, 0.6017, 0.5166] step 10100 H=5 q<=5 loss 0.4717 arrival 0.2860 grad 6.02 9.47 it/s cycles [0.60471, 0.42131, 0.37633] viol 0.816 anchor 0.0211 sat 0.000 step 10200 H=5 q<=5 loss 0.3840 arrival 0.2234 grad 5.81 9.42 it/s cycles [0.64529, 0.51823, 0.45554] viol 0.820 anchor 0.0193 sat 0.000 step 10300 H=5 q<=5 loss 0.3621 arrival 0.2059 grad 5.27 9.38 it/s cycles [0.39392, 0.24371, 0.20631] viol 0.833 anchor 0.0208 sat 0.000 step 10400 H=5 q<=5 loss 0.3490 arrival 0.1997 grad 4.77 9.33 it/s cycles [0.54317, 0.41745, 0.37756] viol 0.789 anchor 0.0216 sat 0.000 step 10500 H=5 q<=5 loss 0.3126 arrival 0.1692 grad 5.52 9.29 it/s cycles [0.51183, 0.33246, 0.28827] viol 0.819 anchor 0.0215 sat 0.000 step 10600 H=5 q<=5 loss 0.3184 arrival 0.1751 grad 4.76 9.25 it/s cycles [0.46169, 0.31115, 0.27148] viol 0.810 anchor 0.0216 sat 0.000 step 10700 H=5 q<=5 loss 0.3147 arrival 0.1761 grad 4.89 9.20 it/s cycles [0.40944, 0.24261, 0.20591] viol 0.797 anchor 0.0203 sat 0.000 step 10800 H=5 q<=5 loss 0.3358 arrival 0.1842 grad 4.51 9.16 it/s cycles [0.45935, 0.32177, 0.27353] viol 0.815 anchor 0.0216 sat 0.000 step 10900 H=5 q<=5 loss 0.3242 arrival 0.1724 grad 4.90 9.12 it/s cycles [0.34753, 0.19945, 0.17536] viol 0.817 anchor 0.0231 sat 0.000 step 11000 H=5 q<=5 loss 0.2926 arrival 0.1543 grad 4.62 9.08 it/s cycles [0.50405, 0.29807, 0.24726] viol 0.818 anchor 0.0213 sat 0.000 [val] arrival 0.1259 terminal 0.1383 per_step [0.5933, 0.2699, 0.1538, 0.1317, 0.1383] per_cycle [0.4525, 0.2984, 0.2574] step 11100 H=5 q<=5 loss 0.3111 arrival 0.1666 grad 4.81 9.03 it/s cycles [0.61665, 0.44117, 0.3885] viol 0.808 anchor 0.0208 sat 0.000 step 11200 H=5 q<=5 loss 0.3045 arrival 0.1619 grad 4.77 8.99 it/s cycles [0.52312, 0.3703, 0.32834] viol 0.805 anchor 0.0209 sat 0.000 step 11300 H=5 q<=5 loss 0.3006 arrival 0.1596 grad 4.85 8.95 it/s cycles [0.5653, 0.37664, 0.33499] viol 0.804 anchor 0.0208 sat 0.000 step 11400 H=5 q<=5 loss 0.2989 arrival 0.1576 grad 6.01 8.92 it/s cycles [0.24523, 0.12598, 0.10287] viol 0.794 anchor 0.0203 sat 0.000 step 11500 H=5 q<=5 loss 0.2984 arrival 0.1583 grad 4.25 8.89 it/s cycles [0.43482, 0.27197, 0.22576] viol 0.768 anchor 0.0214 sat 0.000 step 11600 H=5 q<=5 loss 0.2662 arrival 0.1371 grad 4.58 8.85 it/s cycles [0.43668, 0.25955, 0.20261] viol 0.743 anchor 0.0199 sat 0.000 step 11700 H=5 q<=5 loss 0.2707 arrival 0.1403 grad 3.79 8.83 it/s cycles [0.35554, 0.22588, 0.19815] viol 0.748 anchor 0.0194 sat 0.000 step 11800 H=5 q<=5 loss 0.2726 arrival 0.1405 grad 4.22 8.79 it/s cycles [0.42035, 0.285, 0.23748] viol 0.742 anchor 0.0195 sat 0.000 step 11900 H=5 q<=5 loss 0.2695 arrival 0.1397 grad 4.57 8.76 it/s cycles [0.40955, 0.25352, 0.21741] viol 0.750 anchor 0.0194 sat 0.000 step 12000 H=5 q<=5 loss 0.2771 arrival 0.1454 grad 4.40 8.74 it/s cycles [0.37472, 0.25045, 0.22392] viol 0.714 anchor 0.0193 sat 0.000 [val] arrival 0.0850 terminal 0.1010 per_step [0.5852, 0.2318, 0.1194, 0.0968, 0.101] per_cycle [0.4181, 0.264, 0.2268] step 12100 H=5 q<=5 loss 0.2629 arrival 0.1375 grad 4.22 8.69 it/s cycles [0.57236, 0.43992, 0.39122] viol 0.693 anchor 0.0182 sat 0.000 step 12200 H=5 q<=5 loss 0.2581 arrival 0.1331 grad 4.05 8.66 it/s cycles [0.38371, 0.23178, 0.19265] viol 0.680 anchor 0.0198 sat 0.000 step 12300 H=5 q<=5 loss 0.2762 arrival 0.1466 grad 4.36 8.64 it/s cycles [0.38193, 0.25963, 0.2351] viol 0.680 anchor 0.0194 sat 0.000 step 12400 H=5 q<=5 loss 0.2757 arrival 0.1473 grad 4.30 8.61 it/s cycles [0.48061, 0.34437, 0.31395] viol 0.678 anchor 0.0197 sat 0.000 step 12500 H=5 q<=5 loss 0.2807 arrival 0.1483 grad 4.16 8.59 it/s cycles [0.47829, 0.31023, 0.27656] viol 0.674 anchor 0.0204 sat 0.000 step 12600 H=5 q<=5 loss 0.2626 arrival 0.1351 grad 4.19 8.56 it/s cycles [0.49487, 0.33838, 0.28696] viol 0.663 anchor 0.0201 sat 0.000 step 12700 H=5 q<=5 loss 0.2619 arrival 0.1356 grad 4.24 8.54 it/s cycles [0.47132, 0.3199, 0.27301] viol 0.654 anchor 0.0201 sat 0.000 step 12800 H=5 q<=5 loss 0.2574 arrival 0.1331 grad 3.69 8.51 it/s cycles [0.36068, 0.18803, 0.15918] viol 0.641 anchor 0.0198 sat 0.000 step 12900 H=5 q<=5 loss 0.2580 arrival 0.1394 grad 4.28 8.49 it/s cycles [0.59736, 0.40811, 0.35866] viol 0.665 anchor 0.0178 sat 0.000 step 13000 H=5 q<=5 loss 0.2575 arrival 0.1330 grad 3.91 8.47 it/s cycles [0.53394, 0.30624, 0.25915] viol 0.632 anchor 0.0186 sat 0.000 [val] arrival 0.0819 terminal 0.0937 per_step [0.6154, 0.2488, 0.1039, 0.0849, 0.0937] per_cycle [0.4402, 0.2686, 0.2293] step 13100 H=5 q<=5 loss 0.2494 arrival 0.1314 grad 4.13 8.43 it/s cycles [0.47767, 0.34209, 0.30287] viol 0.631 anchor 0.0173 sat 0.000 step 13200 H=5 q<=5 loss 0.2577 arrival 0.1338 grad 3.95 8.41 it/s cycles [0.43633, 0.22971, 0.1953] viol 0.617 anchor 0.0182 sat 0.000 step 13300 H=5 q<=5 loss 0.2392 arrival 0.1224 grad 3.51 8.39 it/s cycles [0.55698, 0.394, 0.34569] viol 0.613 anchor 0.0185 sat 0.000 step 13400 H=5 q<=5 loss 0.2539 arrival 0.1314 grad 4.04 8.37 it/s cycles [0.39951, 0.2189, 0.16831] viol 0.607 anchor 0.0177 sat 0.000 step 13500 H=5 q<=5 loss 0.2433 arrival 0.1248 grad 4.56 8.35 it/s cycles [0.38433, 0.27272, 0.24505] viol 0.570 anchor 0.0171 sat 0.000 step 13600 H=5 q<=5 loss 0.2436 arrival 0.1267 grad 3.55 8.33 it/s cycles [0.39763, 0.21089, 0.18066] viol 0.581 anchor 0.0171 sat 0.000 step 13700 H=5 q<=5 loss 0.2555 arrival 0.1349 grad 3.42 8.31 it/s cycles [0.40801, 0.2789, 0.23788] viol 0.596 anchor 0.0172 sat 0.000 step 13800 H=5 q<=5 loss 0.2437 arrival 0.1261 grad 3.75 8.29 it/s cycles [0.57053, 0.39228, 0.34099] viol 0.597 anchor 0.0175 sat 0.000 step 13900 H=5 q<=5 loss 0.2323 arrival 0.1151 grad 3.29 8.27 it/s cycles [0.3585, 0.20143, 0.16908] viol 0.611 anchor 0.0171 sat 0.000 step 14000 H=5 q<=5 loss 0.2444 arrival 0.1265 grad 3.40 8.26 it/s cycles [0.44344, 0.25952, 0.21331] viol 0.601 anchor 0.0167 sat 0.000 [val] arrival 0.0927 terminal 0.1045 per_step [0.5859, 0.2344, 0.1173, 0.0997, 0.1045] per_cycle [0.4218, 0.2664, 0.2284] step 14100 H=5 q<=5 loss 0.2341 arrival 0.1191 grad 3.63 8.23 it/s cycles [0.64149, 0.42455, 0.37383] viol 0.581 anchor 0.0163 sat 0.000 step 14200 H=5 q<=5 loss 0.2348 arrival 0.1223 grad 3.44 8.21 it/s cycles [0.5383, 0.37444, 0.33501] viol 0.571 anchor 0.0167 sat 0.000 step 14300 H=5 q<=5 loss 0.2364 arrival 0.1216 grad 3.52 8.19 it/s cycles [0.60204, 0.40419, 0.35861] viol 0.559 anchor 0.0164 sat 0.000 step 14400 H=5 q<=5 loss 0.2430 arrival 0.1282 grad 4.23 8.18 it/s cycles [0.32304, 0.17542, 0.14194] viol 0.554 anchor 0.0171 sat 0.000 step 14500 H=5 q<=5 loss 0.2435 arrival 0.1286 grad 3.30 8.16 it/s cycles [0.44468, 0.30657, 0.25854] viol 0.565 anchor 0.0165 sat 0.000 step 14600 H=5 q<=5 loss 0.2472 arrival 0.1305 grad 3.35 8.14 it/s cycles [0.50271, 0.33545, 0.28295] viol 0.555 anchor 0.0161 sat 0.000 step 14700 H=5 q<=5 loss 0.2269 arrival 0.1153 grad 3.58 8.13 it/s cycles [0.56421, 0.37795, 0.32494] viol 0.547 anchor 0.0159 sat 0.000 step 14800 H=5 q<=5 loss 0.2425 arrival 0.1280 grad 4.15 8.11 it/s cycles [0.52656, 0.33487, 0.28301] viol 0.528 anchor 0.0165 sat 0.000 step 14900 H=5 q<=5 loss 0.2373 arrival 0.1186 grad 3.44 8.10 it/s cycles [0.44797, 0.31479, 0.26647] viol 0.554 anchor 0.0168 sat 0.000 step 15000 H=5 q<=5 loss 0.2421 arrival 0.1254 grad 3.34 8.08 it/s cycles [0.39361, 0.23642, 0.19017] viol 0.546 anchor 0.0157 sat 0.000 [val] arrival 0.1022 terminal 0.1133 per_step [0.6295, 0.2605, 0.1365, 0.1069, 0.1133] per_cycle [0.4486, 0.2919, 0.2493] step 15100 H=5 q<=5 loss 0.2312 arrival 0.1192 grad 3.73 8.06 it/s cycles [0.48854, 0.33662, 0.28879] viol 0.563 anchor 0.0156 sat 0.000 step 15200 H=5 q<=5 loss 0.2533 arrival 0.1333 grad 4.36 8.04 it/s cycles [0.47434, 0.32619, 0.29841] viol 0.553 anchor 0.0167 sat 0.000 step 15300 H=5 q<=5 loss 0.2382 arrival 0.1218 grad 3.41 8.03 it/s cycles [0.47367, 0.28087, 0.24048] viol 0.548 anchor 0.0163 sat 0.000 step 15400 H=5 q<=5 loss 0.2354 arrival 0.1200 grad 3.92 8.02 it/s cycles [0.46625, 0.28283, 0.24153] viol 0.554 anchor 0.0155 sat 0.000 step 15500 H=5 q<=5 loss 0.2467 arrival 0.1253 grad 3.54 8.00 it/s cycles [0.50583, 0.33638, 0.29523] viol 0.572 anchor 0.0165 sat 0.000 step 15600 H=5 q<=5 loss 0.2328 arrival 0.1191 grad 3.50 7.99 it/s cycles [0.43562, 0.24968, 0.21606] viol 0.560 anchor 0.0158 sat 0.000 step 15700 H=5 q<=5 loss 0.2358 arrival 0.1179 grad 4.09 7.97 it/s cycles [0.52126, 0.33512, 0.28003] viol 0.557 anchor 0.0161 sat 0.000 step 15800 H=5 q<=5 loss 0.2330 arrival 0.1189 grad 3.26 7.96 it/s cycles [0.43709, 0.2695, 0.23047] viol 0.556 anchor 0.0164 sat 0.000 step 15900 H=5 q<=5 loss 0.2317 arrival 0.1172 grad 3.44 7.95 it/s cycles [0.37437, 0.19443, 0.14981] viol 0.563 anchor 0.0155 sat 0.000 step 16000 H=5 q<=5 loss 0.2303 arrival 0.1177 grad 3.78 7.94 it/s cycles [0.30095, 0.16882, 0.13579] viol 0.551 anchor 0.0152 sat 0.000 [val] arrival 0.0727 terminal 0.0847 per_step [0.6012, 0.236, 0.1079, 0.0814, 0.0847] per_cycle [0.4358, 0.2635, 0.2222] step 16100 H=5 q<=5 loss 0.2287 arrival 0.1158 grad 4.14 7.92 it/s cycles [0.41234, 0.2839, 0.23687] viol 0.550 anchor 0.0149 sat 0.000 step 16200 H=5 q<=5 loss 0.2274 arrival 0.1161 grad 3.41 7.90 it/s cycles [0.33493, 0.18108, 0.15619] viol 0.536 anchor 0.0152 sat 0.000 step 16300 H=5 q<=5 loss 0.2250 arrival 0.1119 grad 3.39 7.89 it/s cycles [0.43575, 0.26289, 0.22842] viol 0.547 anchor 0.0154 sat 0.000 step 16400 H=5 q<=5 loss 0.2331 arrival 0.1194 grad 3.38 7.88 it/s cycles [0.3772, 0.22042, 0.1874] viol 0.539 anchor 0.0147 sat 0.000 step 16500 H=5 q<=5 loss 0.2284 arrival 0.1150 grad 3.18 7.86 it/s cycles [0.42252, 0.25559, 0.21527] viol 0.530 anchor 0.0150 sat 0.000 step 16600 H=5 q<=5 loss 0.2289 arrival 0.1147 grad 3.42 7.85 it/s cycles [0.41037, 0.22554, 0.18712] viol 0.543 anchor 0.0144 sat 0.000 step 16700 H=5 q<=5 loss 0.2169 arrival 0.1082 grad 3.32 7.84 it/s cycles [0.28927, 0.18098, 0.1473] viol 0.541 anchor 0.0147 sat 0.000 step 16800 H=5 q<=5 loss 0.2202 arrival 0.1114 grad 2.93 7.83 it/s cycles [0.34605, 0.18149, 0.14463] viol 0.510 anchor 0.0141 sat 0.000 step 16900 H=5 q<=5 loss 0.2295 arrival 0.1163 grad 3.54 7.82 it/s cycles [0.40086, 0.23545, 0.20323] viol 0.530 anchor 0.0147 sat 0.000 step 17000 H=5 q<=5 loss 0.2084 arrival 0.1022 grad 3.04 7.81 it/s cycles [0.4157, 0.23197, 0.19142] viol 0.524 anchor 0.0144 sat 0.000 [val] arrival 0.0687 terminal 0.0816 per_step [0.5769, 0.236, 0.092, 0.0732, 0.0816] per_cycle [0.4164, 0.2502, 0.2119] step 17100 H=5 q<=5 loss 0.2264 arrival 0.1121 grad 3.55 7.79 it/s cycles [0.47071, 0.27018, 0.22678] viol 0.518 anchor 0.0147 sat 0.000 step 17200 H=5 q<=5 loss 0.2197 arrival 0.1116 grad 3.30 7.78 it/s cycles [0.34113, 0.17682, 0.13499] viol 0.519 anchor 0.0142 sat 0.000 step 17300 H=5 q<=5 loss 0.2246 arrival 0.1158 grad 3.48 7.77 it/s cycles [0.34065, 0.21277, 0.17945] viol 0.497 anchor 0.0141 sat 0.000 step 17400 H=5 q<=5 loss 0.2101 arrival 0.1016 grad 4.02 7.76 it/s cycles [0.3861, 0.23934, 0.19888] viol 0.520 anchor 0.0144 sat 0.000 step 17500 H=5 q<=5 loss 0.2149 arrival 0.1081 grad 3.10 7.75 it/s cycles [0.39253, 0.25251, 0.21117] viol 0.523 anchor 0.0146 sat 0.000 step 17600 H=5 q<=5 loss 0.2210 arrival 0.1122 grad 3.47 7.74 it/s cycles [0.39289, 0.23733, 0.20964] viol 0.500 anchor 0.0141 sat 0.000 step 17700 H=5 q<=5 loss 0.2254 arrival 0.1140 grad 3.47 7.73 it/s cycles [0.5864, 0.35479, 0.28909] viol 0.514 anchor 0.0144 sat 0.000 step 17800 H=5 q<=5 loss 0.2186 arrival 0.1077 grad 2.87 7.72 it/s cycles [0.52261, 0.31454, 0.26185] viol 0.527 anchor 0.0140 sat 0.000 step 17900 H=5 q<=5 loss 0.2148 arrival 0.1078 grad 2.99 7.71 it/s cycles [0.5077, 0.29405, 0.25002] viol 0.512 anchor 0.0144 sat 0.000 step 18000 H=5 q<=5 loss 0.2234 arrival 0.1129 grad 3.08 7.70 it/s cycles [0.39944, 0.23381, 0.19625] viol 0.508 anchor 0.0145 sat 0.000 [val] arrival 0.0721 terminal 0.0826 per_step [0.5601, 0.2256, 0.0933, 0.076, 0.0826] per_cycle [0.4105, 0.2466, 0.2075] step 18100 H=5 q<=5 loss 0.2105 arrival 0.1054 grad 3.05 7.69 it/s cycles [0.40925, 0.23063, 0.2001] viol 0.516 anchor 0.0147 sat 0.000 step 18200 H=5 q<=5 loss 0.2131 arrival 0.1050 grad 2.88 7.68 it/s cycles [0.2745, 0.13817, 0.11584] viol 0.514 anchor 0.0147 sat 0.000 step 18300 H=5 q<=5 loss 0.2276 arrival 0.1141 grad 3.78 7.67 it/s cycles [0.40467, 0.23176, 0.18372] viol 0.502 anchor 0.0151 sat 0.000 step 18400 H=5 q<=5 loss 0.2203 arrival 0.1122 grad 3.08 7.66 it/s cycles [0.36286, 0.19841, 0.16471] viol 0.502 anchor 0.0140 sat 0.000 step 18500 H=5 q<=5 loss 0.2384 arrival 0.1245 grad 3.20 7.65 it/s cycles [0.3779, 0.24248, 0.19371] viol 0.502 anchor 0.0141 sat 0.000 step 18600 H=5 q<=5 loss 0.2268 arrival 0.1171 grad 3.76 7.64 it/s cycles [0.43392, 0.26353, 0.24192] viol 0.513 anchor 0.0147 sat 0.000 step 18700 H=5 q<=5 loss 0.2233 arrival 0.1131 grad 3.37 7.63 it/s cycles [0.50984, 0.28982, 0.25199] viol 0.517 anchor 0.0148 sat 0.000 step 18800 H=5 q<=5 loss 0.2215 arrival 0.1108 grad 3.09 7.63 it/s cycles [0.40244, 0.19511, 0.1605] viol 0.506 anchor 0.0144 sat 0.000 step 18900 H=5 q<=5 loss 0.2192 arrival 0.1098 grad 3.47 7.62 it/s cycles [0.39136, 0.19058, 0.16101] viol 0.507 anchor 0.0148 sat 0.000 step 19000 H=5 q<=5 loss 0.2084 arrival 0.0996 grad 3.51 7.61 it/s cycles [0.29748, 0.15433, 0.11749] viol 0.515 anchor 0.0146 sat 0.000 [val] arrival 0.0845 terminal 0.0970 per_step [0.6374, 0.2474, 0.1127, 0.0912, 0.097] per_cycle [0.4519, 0.2797, 0.2371] step 19100 H=5 q<=5 loss 0.2188 arrival 0.1096 grad 2.99 7.59 it/s cycles [0.53447, 0.31555, 0.26308] viol 0.518 anchor 0.0143 sat 0.000 step 19200 H=5 q<=5 loss 0.2146 arrival 0.1078 grad 2.94 7.58 it/s cycles [0.3772, 0.2468, 0.19799] viol 0.509 anchor 0.0142 sat 0.000 step 19300 H=5 q<=5 loss 0.2133 arrival 0.1067 grad 3.50 7.58 it/s cycles [0.36117, 0.18514, 0.14501] viol 0.509 anchor 0.0141 sat 0.000 step 19400 H=5 q<=5 loss 0.2263 arrival 0.1138 grad 3.29 7.57 it/s cycles [0.54494, 0.30619, 0.2755] viol 0.522 anchor 0.0146 sat 0.000 step 19500 H=5 q<=5 loss 0.2231 arrival 0.1117 grad 3.12 7.56 it/s cycles [0.58725, 0.37554, 0.31937] viol 0.498 anchor 0.0143 sat 0.000 step 19600 H=5 q<=5 loss 0.2111 arrival 0.1040 grad 3.22 7.55 it/s cycles [0.38897, 0.22051, 0.18656] viol 0.507 anchor 0.0141 sat 0.000 step 19700 H=5 q<=5 loss 0.2110 arrival 0.1057 grad 3.06 7.55 it/s cycles [0.38789, 0.21698, 0.17353] viol 0.502 anchor 0.0142 sat 0.000 step 19800 H=5 q<=5 loss 0.2168 arrival 0.1087 grad 3.26 7.54 it/s cycles [0.34824, 0.19029, 0.15223] viol 0.511 anchor 0.0143 sat 0.000 step 19900 H=5 q<=5 loss 0.2172 arrival 0.1083 grad 3.08 7.53 it/s cycles [0.51621, 0.33235, 0.26965] viol 0.512 anchor 0.0144 sat 0.000 step 20000 H=5 q<=5 loss 0.2176 arrival 0.1089 grad 3.36 7.53 it/s cycles [0.37106, 0.21073, 0.17927] viol 0.507 anchor 0.0141 sat 0.000 [val] arrival 0.0790 terminal 0.0903 per_step [0.6231, 0.2419, 0.0986, 0.0805, 0.0903] per_cycle [0.4428, 0.2689, 0.2269] done in 44.3 min -> data\runs\planner_D