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 12:37:12.226 | INFO  | stable_worldmodel.wm.utils:_resolve_hf:150 - Loading quentinll/lewm-pusht from local cache... 2026-08-08 12:37:12.226 | 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 12:37:22.693000 52924 site-packages\torch\utils\flop_counter.py:29] triton not found; flop counting will not work for triton kernels 12:37:23 | INFO  | atomic_chec~| [atomic_save] installed crash-safe checkpoint plugin (write to sibling .tmp + fsync + atomic rename) 12:37:23 | 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=0.1) phi/psi pretrain: 1.8121 -> 0.0039 over 400 steps step 100 H=3 q<=2 loss 1.4398 arrival 1.1365 grad 6.14 7.61 it/s cycles [0.45586, 0.44223, 0.43571] viol 0.215 anchor 0.1211 sat 0.000 step 200 H=3 q<=2 loss 1.4351 arrival 1.1446 grad 6.06 8.61 it/s cycles [0.61554, 0.59, 0.57565] viol 0.123 anchor 0.2266 sat 0.000 step 300 H=3 q<=2 loss 1.4667 arrival 1.1664 grad 8.17 9.05 it/s cycles [0.9594, 0.92427, 0.89702] viol 0.092 anchor 0.2776 sat 0.000 step 400 H=3 q<=2 loss 1.3259 arrival 1.0476 grad 7.93 9.30 it/s cycles [0.79331, 0.76846, 0.75622] viol 0.059 anchor 0.2900 sat 0.000 step 500 H=3 q<=2 loss 1.2522 arrival 0.9804 grad 10.55 9.37 it/s cycles [0.76654, 0.75731, 0.76598] viol 0.040 anchor 0.2651 sat 0.000 step 600 H=3 q<=2 loss 1.0618 arrival 0.8221 grad 9.83 9.44 it/s cycles [0.75968, 0.64821, 0.58127] viol 0.038 anchor 0.2316 sat 0.000 step 700 H=3 q<=2 loss 0.9477 arrival 0.7215 grad 10.54 9.50 it/s cycles [0.74, 0.58205, 0.53701] viol 0.051 anchor 0.1832 sat 0.000 step 800 H=3 q<=2 loss 0.8719 arrival 0.6633 grad 10.94 9.54 it/s cycles [0.87875, 0.61297, 0.54897] viol 0.078 anchor 0.1192 sat 0.000 step 900 H=3 q<=2 loss 0.7861 arrival 0.5931 grad 9.09 9.57 it/s cycles [0.77294, 0.58977, 0.4733] viol 0.104 anchor 0.1255 sat 0.000 step 1000 H=3 q<=2 loss 0.6914 arrival 0.5147 grad 8.08 9.61 it/s cycles [0.91159, 0.72827, 0.66484] viol 0.134 anchor 0.1146 sat 0.000 [val] arrival 1.1509 terminal 1.1533 per_step [1.7562, 1.2595, 1.1533] per_cycle [1.7136, 1.4854, 1.3897] step 1100 H=3 q<=2 loss 0.6796 arrival 0.5017 grad 8.52 9.55 it/s cycles [0.8127, 0.58496, 0.47512] viol 0.161 anchor 0.1046 sat 0.000 step 1200 H=3 q<=2 loss 0.6237 arrival 0.4582 grad 7.56 9.58 it/s cycles [0.59452, 0.34823, 0.25319] viol 0.196 anchor 0.0953 sat 0.000 step 1300 H=3 q<=2 loss 0.5989 arrival 0.4342 grad 7.71 9.62 it/s cycles [0.64148, 0.45467, 0.39661] viol 0.193 anchor 0.0913 sat 0.000 step 1400 H=3 q<=2 loss 0.5806 arrival 0.4188 grad 7.18 9.67 it/s cycles [0.75454, 0.49242, 0.40196] viol 0.207 anchor 0.0859 sat 0.000 step 1500 H=3 q<=2 loss 0.5476 arrival 0.3914 grad 7.55 9.70 it/s cycles [0.41431, 0.23551, 0.174] viol 0.210 anchor 0.0825 sat 0.000 step 1600 H=3 q<=2 loss 0.5109 arrival 0.3629 grad 6.52 9.73 it/s cycles [0.45975, 0.27374, 0.22801] viol 0.194 anchor 0.0758 sat 0.000 step 1700 H=3 q<=2 loss 0.5030 arrival 0.3544 grad 6.18 9.76 it/s cycles [0.56958, 0.35053, 0.26558] viol 0.205 anchor 0.0683 sat 0.000 step 1800 H=3 q<=2 loss 0.5244 arrival 0.3666 grad 6.68 9.77 it/s cycles [0.73313, 0.45698, 0.35288] viol 0.218 anchor 0.0716 sat 0.000 step 1900 H=3 q<=2 loss 0.4810 arrival 0.3322 grad 6.10 9.76 it/s cycles [0.52641, 0.31227, 0.2629] viol 0.198 anchor 0.0657 sat 0.000 step 2000 H=3 q<=2 loss 0.4811 arrival 0.3303 grad 6.13 9.74 it/s cycles [0.58562, 0.34387, 0.26444] viol 0.207 anchor 0.0675 sat 0.000 [val] arrival 1.0608 terminal 1.0784 per_step [1.5701, 1.1062, 1.0784] per_cycle [1.7277, 1.3812, 1.2516] step 2100 H=3 q<=2 loss 0.4495 arrival 0.3021 grad 5.51 9.64 it/s cycles [0.5604, 0.24109, 0.14617] viol 0.220 anchor 0.0602 sat 0.000 step 2200 H=3 q<=2 loss 0.4519 arrival 0.3024 grad 5.42 9.60 it/s cycles [0.5903, 0.34923, 0.28262] viol 0.218 anchor 0.0657 sat 0.000 step 2300 H=3 q<=2 loss 0.4300 arrival 0.2862 grad 5.67 9.55 it/s cycles [0.40591, 0.18809, 0.17524] viol 0.205 anchor 0.0626 sat 0.000 step 2400 H=3 q<=2 loss 0.4292 arrival 0.2841 grad 5.25 9.55 it/s cycles [0.58111, 0.27516, 0.20895] viol 0.202 anchor 0.0650 sat 0.000 step 2500 H=3 q<=2 loss 0.4129 arrival 0.2664 grad 5.54 9.57 it/s cycles [0.48592, 0.21833, 0.15137] viol 0.186 anchor 0.0713 sat 0.000 step 2600 H=3 q<=2 loss 0.4257 arrival 0.2786 grad 5.48 9.60 it/s cycles [0.45277, 0.27351, 0.21933] viol 0.205 anchor 0.0599 sat 0.000 step 2700 H=3 q<=2 loss 0.4188 arrival 0.2702 grad 5.49 9.61 it/s cycles [0.3962, 0.20084, 0.1672] viol 0.205 anchor 0.0617 sat 0.000 step 2800 H=3 q<=2 loss 0.3875 arrival 0.2449 grad 4.88 9.62 it/s cycles [0.46371, 0.19056, 0.12319] viol 0.186 anchor 0.0624 sat 0.000 step 2900 H=3 q<=2 loss 0.3986 arrival 0.2532 grad 5.15 9.59 it/s cycles [0.58693, 0.25932, 0.19585] viol 0.195 anchor 0.0589 sat 0.000 step 3000 H=3 q<=2 loss 0.3925 arrival 0.2458 grad 4.99 9.56 it/s cycles [0.58983, 0.26039, 0.188] viol 0.193 anchor 0.0616 sat 0.000 [val] arrival 0.9335 terminal 0.9334 per_step [1.5281, 0.9872, 0.9334] per_cycle [1.6532, 1.27, 1.1495] step 3100 H=3 q<=2 loss 0.3847 arrival 0.2359 grad 4.79 9.52 it/s cycles [0.5025, 0.21759, 0.17013] viol 0.190 anchor 0.0621 sat 0.000 step 3200 H=3 q<=2 loss 0.4187 arrival 0.2561 grad 5.23 9.52 it/s cycles [0.62881, 0.25925, 0.17086] viol 0.191 anchor 0.0695 sat 0.000 step 3300 H=3 q<=2 loss 0.3778 arrival 0.2282 grad 4.53 9.49 it/s cycles [0.56731, 0.27239, 0.22633] viol 0.214 anchor 0.0628 sat 0.000 step 3400 H=3 q<=2 loss 0.3730 arrival 0.2178 grad 4.92 9.47 it/s cycles [0.59834, 0.30543, 0.22611] viol 0.209 anchor 0.0629 sat 0.000 step 3500 H=3 q<=2 loss 0.3557 arrival 0.2045 grad 4.49 9.46 it/s cycles [0.58475, 0.21472, 0.13898] viol 0.244 anchor 0.0623 sat 0.000 step 3600 H=3 q<=2 loss 0.3847 arrival 0.2215 grad 4.62 9.44 it/s cycles [0.47562, 0.18566, 0.13647] viol 0.244 anchor 0.0716 sat 0.000 step 3700 H=3 q<=2 loss 0.3801 arrival 0.2144 grad 4.59 9.42 it/s cycles [0.5825, 0.27033, 0.20049] viol 0.247 anchor 0.0697 sat 0.000 step 3800 H=3 q<=2 loss 0.4023 arrival 0.2303 grad 4.81 9.41 it/s cycles [0.64662, 0.26972, 0.16986] viol 0.220 anchor 0.0720 sat 0.000 step 3900 H=3 q<=2 loss 0.3767 arrival 0.2088 grad 4.21 9.38 it/s cycles [0.49945, 0.20438, 0.16883] viol 0.244 anchor 0.0638 sat 0.000 step 4000 H=3 q<=2 loss 0.3718 arrival 0.1969 grad 4.37 9.36 it/s cycles [0.56415, 0.25768, 0.20102] viol 0.271 anchor 0.0643 sat 0.000 [val] arrival 0.8895 terminal 0.9017 per_step [1.3081, 0.8995, 0.9017] per_cycle [1.6255, 1.1661, 1.0364] step 4100 H=3 q<=2 loss 0.4202 arrival 0.2291 grad 4.57 9.32 it/s cycles [0.56914, 0.24368, 0.17725] viol 0.284 anchor 0.0676 sat 0.000 step 4200 H=3 q<=2 loss 0.4126 arrival 0.2223 grad 4.44 9.31 it/s cycles [0.69627, 0.27778, 0.14878] viol 0.270 anchor 0.0635 sat 0.000 step 4300 H=3 q<=2 loss 0.3873 arrival 0.2001 grad 4.34 9.30 it/s cycles [0.45285, 0.1648, 0.12496] viol 0.328 anchor 0.0617 sat 0.000 step 4400 H=3 q<=2 loss 0.3932 arrival 0.2011 grad 3.98 9.30 it/s cycles [0.50119, 0.19146, 0.16611] viol 0.259 anchor 0.0678 sat 0.000 step 4500 H=3 q<=2 loss 0.3959 arrival 0.2123 grad 4.39 9.30 it/s cycles [0.51707, 0.19547, 0.13644] viol 0.240 anchor 0.0593 sat 0.000 step 4600 H=3 q<=2 loss 0.3772 arrival 0.1993 grad 4.06 9.29 it/s cycles [0.41147, 0.15416, 0.11527] viol 0.213 anchor 0.0598 sat 0.000 step 4700 H=3 q<=2 loss 0.4014 arrival 0.2172 grad 4.82 9.31 it/s cycles [0.64928, 0.23378, 0.14857] viol 0.206 anchor 0.0608 sat 0.000 step 4800 H=3 q<=2 loss 0.3583 arrival 0.1901 grad 3.85 9.32 it/s cycles [0.69341, 0.24629, 0.17045] viol 0.207 anchor 0.0545 sat 0.000 step 4900 H=3 q<=2 loss 0.3856 arrival 0.2044 grad 4.66 9.32 it/s cycles [0.69865, 0.24712, 0.15197] viol 0.203 anchor 0.0600 sat 0.000 step 5000 H=3 q<=2 loss 0.3987 arrival 0.2014 grad 4.49 9.33 it/s cycles [0.7619, 0.30417, 0.21776] viol 0.241 anchor 0.0632 sat 0.000 [val] arrival 0.8500 terminal 0.8618 per_step [1.2911, 0.8677, 0.8618] per_cycle [1.5924, 1.1177, 1.0069] step 5100 H=3 q<=3 loss 0.5355 arrival 0.2727 grad 5.06 9.31 it/s cycles [0.57715, 0.23403, 0.14489] viol 0.277 anchor 0.0653 sat 0.000 step 5200 H=3 q<=3 loss 0.4466 arrival 0.2197 grad 4.83 9.31 it/s cycles [0.59649, 0.26836, 0.1766] viol 0.235 anchor 0.0670 sat 0.000 step 5300 H=3 q<=3 loss 0.4239 arrival 0.2037 grad 4.91 9.31 it/s cycles [0.7415, 0.3674, 0.26589] viol 0.247 anchor 0.0580 sat 0.000 step 5400 H=3 q<=3 loss 0.4288 arrival 0.2089 grad 4.30 9.32 it/s cycles [0.67571, 0.40553, 0.3347] viol 0.261 anchor 0.0566 sat 0.000 step 5500 H=3 q<=3 loss 0.4031 arrival 0.1910 grad 4.11 9.30 it/s cycles [0.6074, 0.30473, 0.23919] viol 0.229 anchor 0.0576 sat 0.000 step 5600 H=3 q<=3 loss 0.4128 arrival 0.1981 grad 4.43 9.31 it/s cycles [0.4814, 0.18447, 0.12504] viol 0.232 anchor 0.0561 sat 0.000 step 5700 H=3 q<=3 loss 0.3858 arrival 0.1862 grad 4.12 9.31 it/s cycles [0.59517, 0.28054, 0.17902] viol 0.234 anchor 0.0521 sat 0.000 step 5800 H=3 q<=3 loss 0.3821 arrival 0.1811 grad 3.88 9.31 it/s cycles [0.62759, 0.3322, 0.2422] viol 0.248 anchor 0.0517 sat 0.000 step 5900 H=3 q<=3 loss 0.3774 arrival 0.1775 grad 3.91 9.32 it/s cycles [0.63708, 0.33299, 0.27313] viol 0.276 anchor 0.0480 sat 0.000 step 6000 H=3 q<=3 loss 0.4033 arrival 0.1847 grad 4.25 9.33 it/s cycles [0.51046, 0.20625, 0.1365] viol 0.291 anchor 0.0524 sat 0.000 [val] arrival 0.3997 terminal 0.4021 per_step [0.9025, 0.4698, 0.4021] per_cycle [1.0586, 0.6889, 0.5914] step 6100 H=3 q<=3 loss 0.3973 arrival 0.1848 grad 4.38 9.32 it/s cycles [0.44115, 0.24008, 0.17651] viol 0.306 anchor 0.0541 sat 0.000 step 6200 H=3 q<=3 loss 0.3853 arrival 0.1799 grad 4.23 9.33 it/s cycles [0.70321, 0.39806, 0.29862] viol 0.311 anchor 0.0482 sat 0.000 step 6300 H=3 q<=3 loss 0.3947 arrival 0.1862 grad 4.28 9.34 it/s cycles [0.59474, 0.26547, 0.21295] viol 0.314 anchor 0.0521 sat 0.000 step 6400 H=3 q<=3 loss 0.3761 arrival 0.1747 grad 4.01 9.35 it/s cycles [0.51689, 0.26609, 0.22152] viol 0.339 anchor 0.0494 sat 0.000 step 6500 H=3 q<=3 loss 0.3774 arrival 0.1777 grad 4.47 9.36 it/s cycles [0.56462, 0.20306, 0.14182] viol 0.325 anchor 0.0504 sat 0.000 step 6600 H=3 q<=3 loss 0.3454 arrival 0.1621 grad 3.73 9.38 it/s cycles [0.50338, 0.24939, 0.1563] viol 0.344 anchor 0.0407 sat 0.000 step 6700 H=3 q<=3 loss 0.3406 arrival 0.1565 grad 3.79 9.39 it/s cycles [0.72199, 0.28239, 0.23485] viol 0.316 anchor 0.0415 sat 0.000 step 6800 H=3 q<=3 loss 0.3499 arrival 0.1605 grad 3.77 9.40 it/s cycles [0.64192, 0.40217, 0.32181] viol 0.334 anchor 0.0430 sat 0.000 step 6900 H=3 q<=3 loss 0.3334 arrival 0.1526 grad 3.67 9.41 it/s cycles [0.73951, 0.38867, 0.34862] viol 0.333 anchor 0.0386 sat 0.000 step 7000 H=3 q<=3 loss 0.3348 arrival 0.1553 grad 3.94 9.42 it/s cycles [0.71285, 0.36753, 0.28104] viol 0.345 anchor 0.0377 sat 0.000 [val] arrival 0.3675 terminal 0.3744 per_step [0.8333, 0.4387, 0.3744] per_cycle [1.0375, 0.6558, 0.5488] step 7100 H=3 q<=3 loss 0.3552 arrival 0.1662 grad 3.72 9.41 it/s cycles [1.0032, 0.49405, 0.44677] viol 0.351 anchor 0.0415 sat 0.000 step 7200 H=3 q<=3 loss 0.3531 arrival 0.1634 grad 4.25 9.43 it/s cycles [0.60146, 0.3441, 0.23846] viol 0.368 anchor 0.0423 sat 0.000 step 7300 H=3 q<=3 loss 0.3235 arrival 0.1496 grad 3.42 9.44 it/s cycles [0.79774, 0.41254, 0.26793] viol 0.380 anchor 0.0377 sat 0.000 step 7400 H=3 q<=3 loss 0.3384 arrival 0.1573 grad 3.80 9.45 it/s cycles [0.56522, 0.22894, 0.15722] viol 0.386 anchor 0.0374 sat 0.000 step 7500 H=3 q<=3 loss 0.3047 arrival 0.1342 grad 3.31 9.46 it/s cycles [0.66822, 0.32642, 0.26937] viol 0.440 anchor 0.0362 sat 0.000 step 7600 H=3 q<=3 loss 0.3250 arrival 0.1468 grad 3.93 9.47 it/s cycles [0.5181, 0.28267, 0.2326] viol 0.452 anchor 0.0383 sat 0.000 step 7700 H=3 q<=3 loss 0.3243 arrival 0.1524 grad 3.84 9.48 it/s cycles [0.67531, 0.38181, 0.22395] viol 0.433 anchor 0.0334 sat 0.000 step 7800 H=3 q<=3 loss 0.3105 arrival 0.1440 grad 3.46 9.49 it/s cycles [0.59143, 0.34556, 0.26068] viol 0.408 anchor 0.0330 sat 0.000 step 7900 H=3 q<=3 loss 0.2980 arrival 0.1393 grad 3.63 9.50 it/s cycles [0.64486, 0.2822, 0.19983] viol 0.406 anchor 0.0324 sat 0.000 step 8000 H=3 q<=3 loss 0.3195 arrival 0.1561 grad 3.71 9.51 it/s cycles [0.52464, 0.24548, 0.19227] viol 0.427 anchor 0.0308 sat 0.000 [val] arrival 0.4090 terminal 0.4124 per_step [0.9833, 0.5075, 0.4124] per_cycle [1.0923, 0.7175, 0.6344] step 8100 H=3 q<=3 loss 0.3003 arrival 0.1436 grad 3.79 9.50 it/s cycles [0.59579, 0.27395, 0.21576] viol 0.410 anchor 0.0291 sat 0.000 step 8200 H=3 q<=3 loss 0.3026 arrival 0.1478 grad 3.59 9.50 it/s cycles [0.53874, 0.28761, 0.21171] viol 0.371 anchor 0.0278 sat 0.000 step 8300 H=3 q<=3 loss 0.2973 arrival 0.1434 grad 3.52 9.51 it/s cycles [0.44341, 0.17302, 0.12625] viol 0.355 anchor 0.0300 sat 0.000 step 8400 H=3 q<=3 loss 0.2799 arrival 0.1331 grad 3.57 9.52 it/s cycles [0.5704, 0.25058, 0.21604] viol 0.370 anchor 0.0260 sat 0.000 step 8500 H=3 q<=3 loss 0.2775 arrival 0.1301 grad 3.23 9.53 it/s cycles [0.49663, 0.22581, 0.15372] viol 0.347 anchor 0.0257 sat 0.000 step 8600 H=3 q<=3 loss 0.2742 arrival 0.1302 grad 3.11 9.54 it/s cycles [0.57169, 0.27595, 0.21363] viol 0.348 anchor 0.0245 sat 0.000 step 8700 H=3 q<=3 loss 0.2752 arrival 0.1319 grad 3.22 9.55 it/s cycles [0.47147, 0.16599, 0.14546] viol 0.367 anchor 0.0237 sat 0.000 step 8800 H=3 q<=3 loss 0.2701 arrival 0.1332 grad 3.14 9.56 it/s cycles [0.47164, 0.19755, 0.14769] viol 0.356 anchor 0.0228 sat 0.000 step 8900 H=3 q<=3 loss 0.2671 arrival 0.1259 grad 2.96 9.57 it/s cycles [0.70993, 0.27608, 0.19006] viol 0.345 anchor 0.0242 sat 0.000 step 9000 H=3 q<=3 loss 0.2782 arrival 0.1346 grad 3.38 9.58 it/s cycles [0.7007, 0.37136, 0.25759] viol 0.310 anchor 0.0231 sat 0.000 [val] arrival 0.2794 terminal 0.2818 per_step [0.8731, 0.3723, 0.2818] per_cycle [0.9711, 0.5915, 0.5091] step 9100 H=3 q<=3 loss 0.2661 arrival 0.1286 grad 3.39 9.57 it/s cycles [0.62557, 0.30413, 0.27862] viol 0.300 anchor 0.0217 sat 0.000 step 9200 H=3 q<=3 loss 0.2516 arrival 0.1180 grad 2.83 9.58 it/s cycles [0.52525, 0.24463, 0.19316] viol 0.291 anchor 0.0219 sat 0.000 step 9300 H=3 q<=3 loss 0.2453 arrival 0.1191 grad 2.97 9.58 it/s cycles [0.60322, 0.28868, 0.20966] viol 0.264 anchor 0.0209 sat 0.000 step 9400 H=3 q<=3 loss 0.2623 arrival 0.1262 grad 3.33 9.59 it/s cycles [0.59107, 0.24437, 0.19876] viol 0.278 anchor 0.0222 sat 0.000 step 9500 H=3 q<=3 loss 0.2633 arrival 0.1271 grad 3.40 9.60 it/s cycles [0.50029, 0.23356, 0.16034] viol 0.274 anchor 0.0226 sat 0.000 step 9600 H=3 q<=3 loss 0.2414 arrival 0.1144 grad 2.65 9.60 it/s cycles [0.72041, 0.3901, 0.34819] viol 0.238 anchor 0.0218 sat 0.000 step 9700 H=3 q<=3 loss 0.2490 arrival 0.1216 grad 2.91 9.61 it/s cycles [0.65956, 0.34673, 0.24965] viol 0.243 anchor 0.0191 sat 0.000 step 9800 H=3 q<=3 loss 0.2487 arrival 0.1221 grad 3.35 9.62 it/s cycles [0.59816, 0.2652, 0.19901] viol 0.257 anchor 0.0205 sat 0.000 step 9900 H=3 q<=3 loss 0.2323 arrival 0.1134 grad 2.78 9.62 it/s cycles [0.62937, 0.26992, 0.19902] viol 0.233 anchor 0.0191 sat 0.000 step 10000 H=3 q<=3 loss 0.2347 arrival 0.1138 grad 2.68 9.63 it/s cycles [0.53112, 0.20846, 0.17541] viol 0.237 anchor 0.0193 sat 0.000 [val] arrival 0.3170 terminal 0.3245 per_step [0.891, 0.4087, 0.3245] per_cycle [0.9893, 0.6105, 0.5414] step 10100 H=5 q<=5 loss 0.5093 arrival 0.3031 grad 7.42 9.57 it/s cycles [0.56066, 0.41337, 0.37039] viol 0.273 anchor 0.0273 sat 0.000 step 10200 H=5 q<=5 loss 0.4355 arrival 0.2442 grad 6.23 9.53 it/s cycles [0.60006, 0.4169, 0.36461] viol 0.279 anchor 0.0284 sat 0.000 step 10300 H=5 q<=5 loss 0.4015 arrival 0.2179 grad 5.70 9.48 it/s cycles [0.34662, 0.20304, 0.17519] viol 0.289 anchor 0.0288 sat 0.000 step 10400 H=5 q<=5 loss 0.3691 arrival 0.2002 grad 5.00 9.44 it/s cycles [0.49453, 0.30849, 0.2801] viol 0.279 anchor 0.0278 sat 0.000 step 10500 H=5 q<=5 loss 0.3590 arrival 0.1853 grad 5.80 9.40 it/s cycles [0.55371, 0.38598, 0.3535] viol 0.288 anchor 0.0309 sat 0.000 step 10600 H=5 q<=5 loss 0.3540 arrival 0.1807 grad 5.02 9.35 it/s cycles [0.46718, 0.34248, 0.302] viol 0.297 anchor 0.0309 sat 0.000 step 10700 H=5 q<=5 loss 0.3335 arrival 0.1693 grad 4.67 9.31 it/s cycles [0.44201, 0.25396, 0.23144] viol 0.291 anchor 0.0282 sat 0.000 step 10800 H=5 q<=5 loss 0.3547 arrival 0.1871 grad 4.58 9.27 it/s cycles [0.44965, 0.35767, 0.31046] viol 0.297 anchor 0.0277 sat 0.000 step 10900 H=5 q<=5 loss 0.3410 arrival 0.1757 grad 4.78 9.23 it/s cycles [0.30995, 0.19789, 0.1628] viol 0.259 anchor 0.0287 sat 0.000 step 11000 H=5 q<=5 loss 0.3157 arrival 0.1582 grad 4.28 9.20 it/s cycles [0.48566, 0.31301, 0.27341] viol 0.259 anchor 0.0290 sat 0.000 [val] arrival 0.1197 terminal 0.1295 per_step [0.6356, 0.2884, 0.1637, 0.1289, 0.1295] per_cycle [0.4473, 0.3098, 0.2692] step 11100 H=5 q<=5 loss 0.3362 arrival 0.1699 grad 4.44 9.15 it/s cycles [0.57915, 0.40427, 0.36475] viol 0.277 anchor 0.0298 sat 0.000 step 11200 H=5 q<=5 loss 0.3207 arrival 0.1632 grad 5.07 9.11 it/s cycles [0.47408, 0.336, 0.30152] viol 0.257 anchor 0.0285 sat 0.000 step 11300 H=5 q<=5 loss 0.3074 arrival 0.1555 grad 4.47 9.08 it/s cycles [0.47952, 0.324, 0.26737] viol 0.248 anchor 0.0264 sat 0.000 step 11400 H=5 q<=5 loss 0.3260 arrival 0.1696 grad 5.53 9.05 it/s cycles [0.23438, 0.14898, 0.12502] viol 0.266 anchor 0.0264 sat 0.000 step 11500 H=5 q<=5 loss 0.3208 arrival 0.1620 grad 4.16 9.02 it/s cycles [0.44667, 0.28401, 0.25493] viol 0.254 anchor 0.0276 sat 0.000 step 11600 H=5 q<=5 loss 0.2885 arrival 0.1425 grad 3.86 8.98 it/s cycles [0.35187, 0.22642, 0.19394] viol 0.271 anchor 0.0259 sat 0.000 step 11700 H=5 q<=5 loss 0.2987 arrival 0.1486 grad 4.26 8.95 it/s cycles [0.3165, 0.19316, 0.17882] viol 0.269 anchor 0.0284 sat 0.000 step 11800 H=5 q<=5 loss 0.2942 arrival 0.1455 grad 4.24 8.92 it/s cycles [0.4758, 0.34233, 0.29364] viol 0.270 anchor 0.0280 sat 0.000 step 11900 H=5 q<=5 loss 0.2885 arrival 0.1424 grad 4.00 8.89 it/s cycles [0.38129, 0.25076, 0.21983] viol 0.245 anchor 0.0273 sat 0.000 step 12000 H=5 q<=5 loss 0.2848 arrival 0.1370 grad 4.06 8.86 it/s cycles [0.37687, 0.25883, 0.21363] viol 0.252 anchor 0.0282 sat 0.000 [val] arrival 0.0912 terminal 0.1052 per_step [0.6293, 0.2673, 0.1278, 0.1003, 0.1052] per_cycle [0.4163, 0.277, 0.246] step 12100 H=5 q<=5 loss 0.2835 arrival 0.1396 grad 4.12 8.82 it/s cycles [0.5089, 0.36465, 0.32441] viol 0.257 anchor 0.0278 sat 0.000 step 12200 H=5 q<=5 loss 0.2767 arrival 0.1348 grad 3.91 8.80 it/s cycles [0.35152, 0.23368, 0.20535] viol 0.240 anchor 0.0286 sat 0.000 step 12300 H=5 q<=5 loss 0.2868 arrival 0.1403 grad 4.06 8.77 it/s cycles [0.28385, 0.19477, 0.1645] viol 0.246 anchor 0.0273 sat 0.000 step 12400 H=5 q<=5 loss 0.3003 arrival 0.1493 grad 4.35 8.74 it/s cycles [0.41859, 0.30197, 0.28034] viol 0.248 anchor 0.0278 sat 0.000 step 12500 H=5 q<=5 loss 0.3027 arrival 0.1529 grad 4.13 8.72 it/s cycles [0.46609, 0.32112, 0.29263] viol 0.253 anchor 0.0260 sat 0.000 step 12600 H=5 q<=5 loss 0.2904 arrival 0.1392 grad 3.98 8.70 it/s cycles [0.43658, 0.28327, 0.24216] viol 0.251 anchor 0.0280 sat 0.000 step 12700 H=5 q<=5 loss 0.2874 arrival 0.1402 grad 4.11 8.67 it/s cycles [0.40538, 0.26977, 0.2288] viol 0.248 anchor 0.0289 sat 0.000 step 12800 H=5 q<=5 loss 0.2877 arrival 0.1400 grad 3.66 8.65 it/s cycles [0.38328, 0.22686, 0.20553] viol 0.233 anchor 0.0269 sat 0.000 step 12900 H=5 q<=5 loss 0.2793 arrival 0.1389 grad 4.36 8.62 it/s cycles [0.54748, 0.34977, 0.33362] viol 0.235 anchor 0.0251 sat 0.000 step 13000 H=5 q<=5 loss 0.2804 arrival 0.1316 grad 3.90 8.60 it/s cycles [0.47474, 0.30647, 0.27105] viol 0.236 anchor 0.0266 sat 0.000 [val] arrival 0.0973 terminal 0.1103 per_step [0.6543, 0.2869, 0.136, 0.1061, 0.1103] per_cycle [0.4249, 0.2889, 0.2587] step 13100 H=5 q<=5 loss 0.2718 arrival 0.1300 grad 3.78 8.57 it/s cycles [0.46696, 0.33012, 0.30045] viol 0.243 anchor 0.0261 sat 0.000 step 13200 H=5 q<=5 loss 0.2771 arrival 0.1320 grad 3.29 8.55 it/s cycles [0.41267, 0.25391, 0.21613] viol 0.237 anchor 0.0264 sat 0.000 step 13300 H=5 q<=5 loss 0.2597 arrival 0.1219 grad 3.82 8.53 it/s cycles [0.56638, 0.41834, 0.39485] viol 0.231 anchor 0.0261 sat 0.000 step 13400 H=5 q<=5 loss 0.2831 arrival 0.1362 grad 3.95 8.51 it/s cycles [0.40658, 0.27423, 0.23546] viol 0.235 anchor 0.0269 sat 0.000 step 13500 H=5 q<=5 loss 0.2714 arrival 0.1277 grad 4.30 8.49 it/s cycles [0.34958, 0.27734, 0.2218] viol 0.204 anchor 0.0253 sat 0.000 step 13600 H=5 q<=5 loss 0.2724 arrival 0.1304 grad 3.92 8.46 it/s cycles [0.3815, 0.23316, 0.20512] viol 0.221 anchor 0.0254 sat 0.000 step 13700 H=5 q<=5 loss 0.2768 arrival 0.1333 grad 3.79 8.45 it/s cycles [0.38944, 0.2665, 0.23827] viol 0.225 anchor 0.0265 sat 0.000 step 13800 H=5 q<=5 loss 0.2681 arrival 0.1294 grad 3.93 8.43 it/s cycles [0.50865, 0.34813, 0.30566] viol 0.216 anchor 0.0256 sat 0.000 step 13900 H=5 q<=5 loss 0.2553 arrival 0.1143 grad 3.76 8.41 it/s cycles [0.36678, 0.21104, 0.17519] viol 0.244 anchor 0.0265 sat 0.000 step 14000 H=5 q<=5 loss 0.2655 arrival 0.1259 grad 3.64 8.39 it/s cycles [0.46917, 0.30054, 0.2649] viol 0.238 anchor 0.0255 sat 0.000 [val] arrival 0.1017 terminal 0.1128 per_step [0.6013, 0.255, 0.1347, 0.1114, 0.1128] per_cycle [0.4123, 0.2747, 0.243] step 14100 H=5 q<=5 loss 0.2600 arrival 0.1223 grad 3.61 8.36 it/s cycles [0.60498, 0.44584, 0.39719] viol 0.232 anchor 0.0245 sat 0.000 step 14200 H=5 q<=5 loss 0.2621 arrival 0.1259 grad 3.72 8.34 it/s cycles [0.46861, 0.31904, 0.29813] viol 0.221 anchor 0.0246 sat 0.000 step 14300 H=5 q<=5 loss 0.2634 arrival 0.1230 grad 3.60 8.32 it/s cycles [0.53614, 0.36101, 0.33875] viol 0.214 anchor 0.0256 sat 0.000 step 14400 H=5 q<=5 loss 0.2650 arrival 0.1246 grad 3.57 8.31 it/s cycles [0.31835, 0.1858, 0.15214] viol 0.196 anchor 0.0259 sat 0.000 step 14500 H=5 q<=5 loss 0.2605 arrival 0.1211 grad 3.53 8.29 it/s cycles [0.46736, 0.32071, 0.30342] viol 0.221 anchor 0.0257 sat 0.000 step 14600 H=5 q<=5 loss 0.2628 arrival 0.1257 grad 3.46 8.28 it/s cycles [0.45107, 0.3018, 0.24208] viol 0.227 anchor 0.0247 sat 0.000 step 14700 H=5 q<=5 loss 0.2454 arrival 0.1136 grad 3.53 8.26 it/s cycles [0.60027, 0.40201, 0.3751] viol 0.210 anchor 0.0231 sat 0.000 step 14800 H=5 q<=5 loss 0.2631 arrival 0.1265 grad 3.31 8.24 it/s cycles [0.49053, 0.32679, 0.2807] viol 0.205 anchor 0.0245 sat 0.000 step 14900 H=5 q<=5 loss 0.2564 arrival 0.1179 grad 3.47 8.23 it/s cycles [0.45414, 0.33166, 0.28602] viol 0.197 anchor 0.0246 sat 0.000 step 15000 H=5 q<=5 loss 0.2651 arrival 0.1279 grad 3.39 8.21 it/s cycles [0.37128, 0.2336, 0.19901] viol 0.199 anchor 0.0234 sat 0.000 [val] arrival 0.1012 terminal 0.1147 per_step [0.6416, 0.2779, 0.1392, 0.1113, 0.1147] per_cycle [0.4311, 0.289, 0.2569] step 15100 H=5 q<=5 loss 0.2523 arrival 0.1177 grad 3.48 8.19 it/s cycles [0.49014, 0.36251, 0.31783] viol 0.204 anchor 0.0233 sat 0.000 step 15200 H=5 q<=5 loss 0.2778 arrival 0.1324 grad 3.92 8.17 it/s cycles [0.43912, 0.30742, 0.28383] viol 0.200 anchor 0.0259 sat 0.000 step 15300 H=5 q<=5 loss 0.2685 arrival 0.1249 grad 3.46 8.16 it/s cycles [0.44972, 0.31363, 0.26895] viol 0.204 anchor 0.0253 sat 0.000 step 15400 H=5 q<=5 loss 0.2553 arrival 0.1173 grad 3.48 8.14 it/s cycles [0.42347, 0.28979, 0.24069] viol 0.215 anchor 0.0250 sat 0.000 step 15500 H=5 q<=5 loss 0.2590 arrival 0.1205 grad 3.88 8.13 it/s cycles [0.44654, 0.28791, 0.25276] viol 0.214 anchor 0.0226 sat 0.000 step 15600 H=5 q<=5 loss 0.2553 arrival 0.1168 grad 3.03 8.12 it/s cycles [0.38606, 0.22176, 0.20328] viol 0.196 anchor 0.0242 sat 0.000 step 15700 H=5 q<=5 loss 0.2719 arrival 0.1276 grad 3.56 8.10 it/s cycles [0.50475, 0.34811, 0.29142] viol 0.209 anchor 0.0260 sat 0.000 step 15800 H=5 q<=5 loss 0.2618 arrival 0.1236 grad 3.61 8.09 it/s cycles [0.40026, 0.27223, 0.23033] viol 0.203 anchor 0.0241 sat 0.000 step 15900 H=5 q<=5 loss 0.2478 arrival 0.1117 grad 3.40 8.08 it/s cycles [0.30917, 0.18406, 0.15054] viol 0.194 anchor 0.0228 sat 0.000 step 16000 H=5 q<=5 loss 0.2530 arrival 0.1183 grad 3.61 8.07 it/s cycles [0.28799, 0.16705, 0.14882] viol 0.200 anchor 0.0233 sat 0.000 [val] arrival 0.0708 terminal 0.0843 per_step [0.5994, 0.2284, 0.1047, 0.0806, 0.0843] per_cycle [0.4077, 0.2548, 0.2195] step 16100 H=5 q<=5 loss 0.2552 arrival 0.1189 grad 3.39 8.05 it/s cycles [0.44106, 0.2994, 0.27852] viol 0.218 anchor 0.0221 sat 0.000 step 16200 H=5 q<=5 loss 0.2560 arrival 0.1206 grad 3.66 8.03 it/s cycles [0.31421, 0.1983, 0.17218] viol 0.198 anchor 0.0237 sat 0.000 step 16300 H=5 q<=5 loss 0.2533 arrival 0.1163 grad 3.66 8.02 it/s cycles [0.44477, 0.28041, 0.25552] viol 0.193 anchor 0.0232 sat 0.000 step 16400 H=5 q<=5 loss 0.2536 arrival 0.1164 grad 3.74 8.01 it/s cycles [0.34261, 0.21467, 0.19377] viol 0.196 anchor 0.0219 sat 0.000 step 16500 H=5 q<=5 loss 0.2589 arrival 0.1217 grad 3.61 8.00 it/s cycles [0.3907, 0.26623, 0.22736] viol 0.209 anchor 0.0229 sat 0.000 step 16600 H=5 q<=5 loss 0.2568 arrival 0.1167 grad 3.35 7.98 it/s cycles [0.37114, 0.23434, 0.19184] viol 0.206 anchor 0.0228 sat 0.000 step 16700 H=5 q<=5 loss 0.2419 arrival 0.1082 grad 3.02 7.97 it/s cycles [0.29141, 0.19052, 0.16381] viol 0.217 anchor 0.0221 sat 0.000 step 16800 H=5 q<=5 loss 0.2507 arrival 0.1168 grad 3.45 7.96 it/s cycles [0.29934, 0.19757, 0.16246] viol 0.193 anchor 0.0222 sat 0.000 step 16900 H=5 q<=5 loss 0.2530 arrival 0.1171 grad 3.42 7.95 it/s cycles [0.42733, 0.30156, 0.25682] viol 0.206 anchor 0.0225 sat 0.000 step 17000 H=5 q<=5 loss 0.2269 arrival 0.0991 grad 3.13 7.94 it/s cycles [0.38584, 0.24085, 0.20025] viol 0.195 anchor 0.0217 sat 0.000 [val] arrival 0.0771 terminal 0.0898 per_step [0.5819, 0.2466, 0.1034, 0.0807, 0.0898] per_cycle [0.3975, 0.2573, 0.2205] step 17100 H=5 q<=5 loss 0.2511 arrival 0.1137 grad 3.45 7.92 it/s cycles [0.45564, 0.28483, 0.23397] viol 0.203 anchor 0.0219 sat 0.000 step 17200 H=5 q<=5 loss 0.2451 arrival 0.1137 grad 3.17 7.91 it/s cycles [0.32177, 0.1774, 0.14606] viol 0.196 anchor 0.0231 sat 0.000 step 17300 H=5 q<=5 loss 0.2456 arrival 0.1147 grad 3.09 7.90 it/s cycles [0.34866, 0.23871, 0.21254] viol 0.188 anchor 0.0218 sat 0.000 step 17400 H=5 q<=5 loss 0.2368 arrival 0.1070 grad 3.09 7.89 it/s cycles [0.35987, 0.24485, 0.19928] viol 0.201 anchor 0.0215 sat 0.000 step 17500 H=5 q<=5 loss 0.2401 arrival 0.1093 grad 3.00 7.88 it/s cycles [0.3616, 0.22082, 0.18912] viol 0.208 anchor 0.0220 sat 0.000 step 17600 H=5 q<=5 loss 0.2467 arrival 0.1161 grad 3.09 7.87 it/s cycles [0.41303, 0.25882, 0.22454] viol 0.194 anchor 0.0208 sat 0.000 step 17700 H=5 q<=5 loss 0.2448 arrival 0.1124 grad 2.89 7.86 it/s cycles [0.53629, 0.35427, 0.30477] viol 0.202 anchor 0.0220 sat 0.000 step 17800 H=5 q<=5 loss 0.2412 arrival 0.1080 grad 3.35 7.85 it/s cycles [0.49658, 0.33, 0.28371] viol 0.197 anchor 0.0208 sat 0.000 step 17900 H=5 q<=5 loss 0.2387 arrival 0.1085 grad 3.15 7.84 it/s cycles [0.4635, 0.32134, 0.27567] viol 0.193 anchor 0.0218 sat 0.000 step 18000 H=5 q<=5 loss 0.2545 arrival 0.1195 grad 3.73 7.83 it/s cycles [0.38136, 0.23441, 0.20973] viol 0.186 anchor 0.0219 sat 0.000 [val] arrival 0.0874 terminal 0.0890 per_step [0.5743, 0.2477, 0.1146, 0.0842, 0.089] per_cycle [0.4006, 0.2572, 0.222] step 18100 H=5 q<=5 loss 0.2357 arrival 0.1072 grad 3.45 7.81 it/s cycles [0.3953, 0.25107, 0.21047] viol 0.197 anchor 0.0214 sat 0.000 step 18200 H=5 q<=5 loss 0.2463 arrival 0.1138 grad 3.72 7.81 it/s cycles [0.2469, 0.1509, 0.12627] viol 0.198 anchor 0.0214 sat 0.000 step 18300 H=5 q<=5 loss 0.2521 arrival 0.1147 grad 3.49 7.80 it/s cycles [0.3727, 0.22815, 0.19977] viol 0.188 anchor 0.0221 sat 0.000 step 18400 H=5 q<=5 loss 0.2526 arrival 0.1208 grad 3.65 7.79 it/s cycles [0.3785, 0.23191, 0.19867] viol 0.192 anchor 0.0216 sat 0.000 step 18500 H=5 q<=5 loss 0.2665 arrival 0.1278 grad 3.54 7.78 it/s cycles [0.36954, 0.2456, 0.20679] viol 0.186 anchor 0.0217 sat 0.000 step 18600 H=5 q<=5 loss 0.2493 arrival 0.1175 grad 3.75 7.77 it/s cycles [0.41244, 0.27095, 0.25004] viol 0.191 anchor 0.0221 sat 0.000 step 18700 H=5 q<=5 loss 0.2471 arrival 0.1151 grad 3.44 7.76 it/s cycles [0.47444, 0.29364, 0.27132] viol 0.189 anchor 0.0214 sat 0.000 step 18800 H=5 q<=5 loss 0.2433 arrival 0.1106 grad 3.08 7.75 it/s cycles [0.41628, 0.23242, 0.19423] viol 0.191 anchor 0.0220 sat 0.000 step 18900 H=5 q<=5 loss 0.2458 arrival 0.1129 grad 2.91 7.74 it/s cycles [0.38193, 0.20007, 0.17772] viol 0.190 anchor 0.0219 sat 0.000 step 19000 H=5 q<=5 loss 0.2410 arrival 0.1081 grad 3.59 7.73 it/s cycles [0.27665, 0.16454, 0.11427] viol 0.195 anchor 0.0218 sat 0.000 [val] arrival 0.0886 terminal 0.1008 per_step [0.6633, 0.2727, 0.127, 0.0982, 0.1008] per_cycle [0.4419, 0.2856, 0.2524] step 19100 H=5 q<=5 loss 0.2450 arrival 0.1115 grad 4.26 7.72 it/s cycles [0.51315, 0.30995, 0.28552] viol 0.198 anchor 0.0217 sat 0.000 step 19200 H=5 q<=5 loss 0.2443 arrival 0.1127 grad 3.00 7.71 it/s cycles [0.32204, 0.20032, 0.1721] viol 0.182 anchor 0.0218 sat 0.000 step 19300 H=5 q<=5 loss 0.2444 arrival 0.1148 grad 3.13 7.70 it/s cycles [0.32818, 0.15959, 0.14954] viol 0.189 anchor 0.0216 sat 0.000 step 19400 H=5 q<=5 loss 0.2501 arrival 0.1131 grad 3.43 7.70 it/s cycles [0.5306, 0.32949, 0.28635] viol 0.192 anchor 0.0216 sat 0.000 step 19500 H=5 q<=5 loss 0.2496 arrival 0.1162 grad 3.28 7.69 it/s cycles [0.58093, 0.38476, 0.33506] viol 0.183 anchor 0.0214 sat 0.000 step 19600 H=5 q<=5 loss 0.2351 arrival 0.1068 grad 4.39 7.68 it/s cycles [0.36189, 0.2296, 0.19611] viol 0.181 anchor 0.0202 sat 0.000 step 19700 H=5 q<=5 loss 0.2374 arrival 0.1076 grad 3.20 7.67 it/s cycles [0.34758, 0.19113, 0.17254] viol 0.184 anchor 0.0218 sat 0.000 step 19800 H=5 q<=5 loss 0.2412 arrival 0.1090 grad 3.30 7.67 it/s cycles [0.31053, 0.17731, 0.13951] viol 0.191 anchor 0.0213 sat 0.000 step 19900 H=5 q<=5 loss 0.2397 arrival 0.1075 grad 3.00 7.66 it/s cycles [0.47858, 0.33764, 0.28876] viol 0.192 anchor 0.0218 sat 0.000 step 20000 H=5 q<=5 loss 0.2465 arrival 0.1140 grad 3.40 7.65 it/s cycles [0.3865, 0.25366, 0.23701] viol 0.186 anchor 0.0204 sat 0.000 [val] arrival 0.0876 terminal 0.1012 per_step [0.6407, 0.2568, 0.1102, 0.0922, 0.1012] per_cycle [0.4257, 0.2736, 0.2402] done in 43.6 min -> data\runs\planner_D10