Datasets:

RICHIEZOU
/

HPinParallelRL

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+49f1421eed9d7b32d57baac3fae896f9e4947c50cd90d337d9f001e512748a8f  ./data/derived/graphfla_landscape_features_validated.csv
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+0ce000394004ec7c715188e7ad48e87d31d79777710d6f967de44729b24cb361  ./data/derived/selector_n100_robustness.json
+e4a7599463f82e16c1c8628b0f12265b29cf1c8bc7b7e2d33c90c37b006f1483  ./data/derived/stagewise_importance.csv
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README.md CHANGED Viewed

@@ -1,3 +1,179 @@
 ---
 license: cc-by-4.0
 ---

 ---
 license: cc-by-4.0
+pretty_name: "PPO Hyperparameter Corpus — From Importance Shifts to Landscape Topology (PPSN 2026)"
+tags:
+  - reinforcement-learning
+  - PPO
+  - hyperparameter-optimization
+  - fitness-landscape-analysis
+  - parallel-rl
+  - automl
+  - fanova
+  - continuous-control
+size_categories:
+  - 10K<n<100K
+task_categories:
+  - tabular-regression
+configs:
+  - config_name: configs_with_hyperparameters
+    data_files: data/configs_with_hyperparameters.csv
+    default: true
+  - config_name: all_runs
+    data_files: data/all_runs.parquet
+  - config_name: eval_trajectories
+    data_files: data/eval_trajectories.parquet
 ---
+# Data Release — From Importance Shifts to Landscape Topology: Characterizing and Exploiting Hyperparameter Spaces in Parallel RL
+**Authors:** Yingjie Zou, Zhong Fan (University of Exeter, Exeter, UK)
+**Venue:** PPSN 2026 (Parallel Problem Solving from Nature)
+**License:** CC-BY-4.0
+This HuggingFace dataset is the data and figure release accompanying the paper. It provides
+the full per-run hyperparameter (HP) corpus, the validated analysis tables that back
+every figure and table in the paper, the final paper figures, and the compiled appendix
+(`supplement.pdf`).
+## Corpus
+The corpus consists of **37,200 PPO training runs** organised as:
+- **5 chapters** (HP groups): Chap1 (PPO core), Chap2 (GAE), Chap3 (normalization),
+  Chap4 (optimization), Chap5 (architecture)
+- **× 4 Brax/MuJoCo continuous-control environments:** ant, halfcheetah, hopper, walker2d
+- **× 5 parallelism levels:** `num_envs ∈ {64, 128, 256, 512, 1024}`
+- **× 3 seeds:** {42, 43, 44}
+Per-chapter configuration counts: Chap1/2/4/5 = 135 configs (8,100 runs each);
+Chap3 = 80 configs (4,800 runs). Total = 37,200 runs. Every run completed
+(`state == finished`) with a non-missing `final_eval_return`. The final performance
+metric is `eval/episode_returns` (W&B summary), stored as `final_eval_return`.
+Training used the `evorl` PPO implementation on NVIDIA GH200 (Grace Hopper) GPUs via
+SLURM. The 37,200-run total reconciles exactly with the upstream training-run logs
+(Chap1/2/4/5 = 8,100 runs each, Chap3 = 4,800).
+## Package layout
+```
+04_huggingface/
+├── README.md                              # this dataset card
+├── .gitattributes                          # git-LFS tracking (*.parquet)
+├── CHECKSUMS.sha256                        # sha256 of every released data/figure/document file
+├── supplement.pdf                          # compiled appendix (supplementary material) PDF
+├── data/
+│   ├── configs_with_hyperparameters.csv   # headline per-run table (37,200 × 23)
+│   ├── all_runs.parquet                   # full consolidated corpus (37,200 × 48)
+│   ├── eval_trajectories.parquet          # eval-return trajectories (run × 10 snapshots)
+│   └── derived/                           # validated analysis tables (back the paper)
+└── figures/                               # final main + supplement paper figures (PDF)
+```
+## `configs_with_hyperparameters.csv` — column dictionary
+One row per run; 37,200 rows × 23 columns. The `config.` prefix has been dropped from
+HP names for readability; names follow `data/derived/chapter_hp_mapping.md`.
+| Column | Type | Description |
+|--------|------|-------------|
+| `chapter` | str | HP group / chapter: `Chap1`–`Chap5` |
+| `env_name` | str | Brax/MuJoCo env: `ant`, `halfcheetah`, `hopper`, `walker2d` |
+| `num_envs` | int | Parallelism level (number of parallel envs): 64–1024 |
+| `seed` | int | Random seed: 42, 43, 44 |
+| `rollout_length` | int | PPO rollout length (steps per env per update) |
+| `discount` | float | Discount factor γ |
+| `gae_lambda` | float | GAE λ |
+| `gae_horizon` | int | GAE horizon (0 = full rollout) |
+| `clip_epsilon` | float | PPO clipping ε |
+| `loss_weights.actor_loss` | float | Actor (policy) loss weight |
+| `loss_weights.critic_loss` | float | Critic (value) loss weight |
+| `loss_weights.actor_entropy` | float | Entropy bonus weight (negative = bonus) |
+| `optimizer.lr` | float | Adam learning rate |
+| `optimizer.grad_clip_norm` | float | Global gradient-norm clip (0 = off) |
+| `normalize_obs` | bool | Observation normalization on/off |
+| `normalize_gae` | bool | Advantage (GAE) normalization on/off |
+| `minibatch_size` | int | SGD minibatch size |
+| `reuse_rollout_epochs` | int | PPO epochs per rollout (sample reuse) |
+| `agent_network.actor_hidden_layer_sizes` | str | Actor MLP hidden sizes, e.g. `[256, 256]` |
+| `agent_network.critic_hidden_layer_sizes` | str | Critic MLP hidden sizes |
+| `total_timesteps` | int | Training budget in env steps (fixed constant; see note below) |
+| `final_eval_return` | float | **Outcome:** final evaluation episodic return |
+| `eval_episode_lengths` | float | Final evaluation episode length (auxiliary) |
+> **Note on `total_timesteps`:** this is a **fixed training-budget constant**
+> (`10,485,760` ≈ 1×10^7) shared by every one of the 37,200 runs. It is therefore
+> *not* a swept hyperparameter and is not part of the per-chapter swept-HP grid
+> documented in `data/derived/chapter_hp_mapping.md`; it is retained in this table
+> to fully specify each run's training budget.
+Within each chapter, a subset of these HPs is swept and the rest are fixed; see
+`data/derived/chapter_hp_mapping.md` for the per-chapter swept/fixed split and grids.
+## File → paper artifact mapping
+| Released file | Backs |
+|---------------|-------|
+| `data/configs_with_hyperparameters.csv` | Headline per-run corpus; input to all fANOVA / landscape / HPO analyses |
+| `data/all_runs.parquet` | Full consolidated corpus (48 cols incl. training/eval metrics) |
+| `data/eval_trajectories.parquet` | Per-run eval-return trajectories (10 snapshots/run); stage-wise analysis input |
+| `data/derived/fanova_individual_importance.csv` | Table 3; Fig S1 (`figS_A1_fanova_heatmap`), Fig S4 (`figS_A4_importance_shift_ratio`) — HP importance shifts |
+| `data/derived/fanova_pairwise_importance.csv` | Pairwise fANOVA importance (HP interaction analysis) |
+| `data/derived/stagewise_importance.csv` | §4.2 stage-wise importance; Fig S3 (`figS_A3_stagewise_evolution`) |
+| `data/derived/graphfla_landscape_features_validated.csv` | §5 landscape; Table 4; Fig S5 (`figS_A5_graphfla_feature_trends`), Fig S6 (`figS_A6_landscape_profile`), Fig S8 (`figS_A8_feature_method_corr`) |
+| `data/derived/hpo_results_v2.csv` | §6 HPO benchmark; Fig 3 (`fig_main_results`); Fig S7 (`figS_A7_hpo_benchmark`), Fig S8 |
+| `data/derived/selector_n100_perf.csv` | §S5 selector study (n=100 per-seed performance); Fig S11 (`figS_A14_selector_n100_accuracy`) |
+| `data/derived/selector_n100_robustness.json` | §S5 selector robustness (10 optimiser-seed headline numbers); Fig S11 |
+| `data/derived/robust_trends_R1-8.csv` | Table S2; block-structure-robust trend tests; ρ* labels in Fig S5 |
+| `data/derived/mayor_metrics_v2_all.csv` | §S6 network diagnostics; Fig S12 (`figS_mayor_metrics`) |
+| `data/derived/seed_reliability.csv` | Seed-reliability validation (cross-seed agreement) |
+| `data/derived/discretization_validation.csv` | Grid-discretization validation |
+| `data/derived/chapter_hp_mapping.md` | Per-chapter swept/fixed HP dictionary and grids |
+| `figures/fig_main_results.pdf` | Main: HPO benchmark results |
+| `figures/fig_landscape_trends.pdf` | Main: landscape-feature trends vs parallelism |
+| `figures/fig_stagewise.pdf` | Main: stage-wise importance |
+| `figures/fig_importance_shift.pdf` | Main: importance shift vs parallelism |
+| `figures/figS_*.pdf` | Supplement figures (S1–S12); see `MANIFEST` notes in the supplement |
+| `supplement.pdf` | Compiled supplementary material (appendix): full text of §S1–S6 and Figures S1–S12 |
+Note on figure numbering: supplement figure files are named by their internal label
+(`figS_A1`…`figS_A14`, `figS_mayor_metrics`); the paper text refers to them as
+Figures S1–S12 in order. The mapping above gives both for the key analysis figures.
+> §S6 (network diagnostics) was corrected for the camera-ready to use
+> `mayor_metrics_v2_all.csv`. The earlier per-step plasticity CSVs are **superseded**
+> and are intentionally **not** part of this release.
+## Regenerating the figures
+- **Main figures** (`fig_main_results`, `fig_landscape_trends`, `fig_stagewise`,
+  `fig_importance_shift`): `EXP/analysis_scripts/build_main_figures.py`
+- **Supplement figures** (`figS_*`): `supplement/_make_supplement_figs.py`
+Both scripts read the derived CSVs released here (and the consolidated parquet) and
+emit the vector PDFs in `figures/`. The analysis tables themselves are produced by the
+scripts in `EXP/analysis_scripts/` (`run_fanova.py`, `run_graphfla.py`,
+`run_hpo_benchmark.py`, `run_stagewise_fanova.py`, `run_selector_n100.py`,
+`compute_robust_trends.py`, `finalize_validated_graphfla.py`) from
+`all_runs.parquet` / `configs_with_hyperparameters.csv`. These analysis/figure scripts
+are part of the paper's code repository and are not bundled in this data release.
+## Integrity
+- `CHECKSUMS.sha256` lists the sha256 of every released data, figure, and document file.
+  `eval_trajectories.parquet` sha256 =
+  `e7ef8116687e4bee178f04800c649ac35b03bc1806fe66cd5b175f5f2b70cb1f`
+  (matches the project `DATA_PROVENANCE.md`).
+## Reproducibility & data availability
+All derived quantities in the paper and supplement are computed from the raw corpus
+(`data/all_runs.parquet`, `data/eval_trajectories.parquet`; 37,200 PPO runs across
+5 HP chapters, 4 Brax environments, 5 parallelism levels, and 3 seeds) using the
+analysis scripts provided with the paper. Per-file source hashes are in
+`CHECKSUMS.sha256`; full regeneration paths are recorded in the project's
+`DATA_PROVENANCE.md`.
+## Citation
+Please cite the PPSN 2026 paper. License: CC-BY-4.0.

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+# Chapter-to-HP Mapping
+For each chapter, identify which config fields have >1 unique value (swept)
+vs exactly 1 value (fixed).
+## Chap1 (8100 runs)
+**Swept HPs:**
+  - `num_envs`: 5 levels — [1024, 128, 256, 512, 64]
+  - `rollout_length`: 5 levels — [1024, 128, 256, 512, 64]
+  - `clip_epsilon`: 3 levels — [0.01, 0.2, 0.4]
+  - `loss_weights.critic_loss`: 3 levels — [0.5, 0.85, 1.0]
+  - `loss_weights.actor_entropy`: 3 levels — [-0.001, -0.01, -0.1]
+**Fixed HPs:**
+  - `discount` = 0.99
+  - `gae_lambda` = 0.95
+  - `gae_horizon` = 0
+  - `loss_weights.actor_loss` = 1
+  - `optimizer.lr` = 0.0003
+  - `optimizer.grad_clip_norm` = 1.0
+  - `normalize_obs` = True
+  - `normalize_gae` = True
+  - `minibatch_size` = 128
+  - `reuse_rollout_epochs` = 4
+  - `agent_network.actor_hidden_layer_sizes` = [256, 256]
+  - `agent_network.critic_hidden_layer_sizes` = [256, 256]
+## Chap2 (8100 runs)
+**Swept HPs:**
+  - `num_envs`: 5 levels — [1024, 128, 256, 512, 64]
+  - `rollout_length`: 5 levels — [1024, 128, 256, 512, 64]
+  - `discount`: 3 levels — [0.99, 0.995, 0.999]
+  - `gae_lambda`: 3 levels — [0.7, 0.8, 0.95]
+  - `gae_horizon`: 3 levels — [0, 32, 64]
+**Fixed HPs:**
+  - `clip_epsilon` = 0.2
+  - `loss_weights.actor_loss` = 1
+  - `loss_weights.critic_loss` = 0.5
+  - `loss_weights.actor_entropy` = -0.01
+  - `optimizer.lr` = 0.0003
+  - `optimizer.grad_clip_norm` = 1.0
+  - `normalize_obs` = True
+  - `normalize_gae` = True
+  - `minibatch_size` = 128
+  - `reuse_rollout_epochs` = 4
+  - `agent_network.actor_hidden_layer_sizes` = [256, 256]
+  - `agent_network.critic_hidden_layer_sizes` = [256, 256]
+## Chap3 (4800 runs)
+**Swept HPs:**
+  - `num_envs`: 5 levels — [1024, 128, 256, 512, 64]
+  - `rollout_length`: 5 levels — [1024, 128, 256, 512, 64]
+  - `optimizer.grad_clip_norm`: 4 levels — [0.0, 0.5, 1.0, 5.0]
+  - `normalize_obs`: 2 levels — [False, True]
+  - `normalize_gae`: 2 levels — [False, True]
+**Fixed HPs:**
+  - `discount` = 0.99
+  - `gae_lambda` = 0.95
+  - `gae_horizon` = 0
+  - `clip_epsilon` = 0.2
+  - `loss_weights.actor_loss` = 1
+  - `loss_weights.critic_loss` = 0.5
+  - `loss_weights.actor_entropy` = -0.01
+  - `optimizer.lr` = 0.0003
+  - `minibatch_size` = 128
+  - `reuse_rollout_epochs` = 4
+  - `agent_network.actor_hidden_layer_sizes` = [256, 256]
+  - `agent_network.critic_hidden_layer_sizes` = [256, 256]
+## Chap4 (8100 runs)
+**Swept HPs:**
+  - `num_envs`: 5 levels — [1024, 128, 256, 512, 64]
+  - `rollout_length`: 5 levels — [1024, 128, 256, 512, 64]
+  - `optimizer.lr`: 3 levels — [0.0003, 0.003, 3e-05]
+  - `minibatch_size`: 3 levels — [1024, 128, 512]
+  - `reuse_rollout_epochs`: 3 levels — [1, 4, 8]
+**Fixed HPs:**
+  - `discount` = 0.99
+  - `gae_lambda` = 0.95
+  - `gae_horizon` = 0
+  - `clip_epsilon` = 0.2
+  - `loss_weights.actor_loss` = 1
+  - `loss_weights.critic_loss` = 0.5
+  - `loss_weights.actor_entropy` = -0.01
+  - `optimizer.grad_clip_norm` = 1.0
+  - `normalize_obs` = True
+  - `normalize_gae` = True
+  - `agent_network.actor_hidden_layer_sizes` = [256, 256]
+  - `agent_network.critic_hidden_layer_sizes` = [256, 256]
+## Chap5 (8100 runs)
+**Swept HPs:**
+  - `num_envs`: 5 levels — [1024, 128, 256, 512, 64]
+  - `rollout_length`: 5 levels — [1024, 128, 256, 512, 64]
+  - `optimizer.lr`: 3 levels — [0.0003, 0.003, 3e-05]
+  - `agent_network.actor_hidden_layer_sizes`: 3 levels — ['[256, 256, 256]', '[256, 256]', '[512, 512]']
+  - `agent_network.critic_hidden_layer_sizes`: 3 levels — ['[256, 256, 256]', '[256, 256]', '[512, 512]']
+**Fixed HPs:**
+  - `discount` = 0.99
+  - `gae_lambda` = 0.95
+  - `gae_horizon` = 0
+  - `clip_epsilon` = 0.2
+  - `loss_weights.actor_loss` = 1
+  - `loss_weights.critic_loss` = 0.5
+  - `loss_weights.actor_entropy` = -0.01
+  - `optimizer.grad_clip_norm` = 1.0
+  - `normalize_obs` = True
+  - `normalize_gae` = True
+  - `minibatch_size` = 128
+  - `reuse_rollout_epochs` = 4

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+chapter,env,num_envs,n_configs,expected_grid,grid_complete,n_dims,hp_names,hp_levels,n_runs,seeds_per_config,kendall_tau_run_vs_group,kendall_tau_p,config_tau,fitness_mean,fitness_std,fitness_min,fitness_max
+Chap1,ant,64,135,135,True,4,rollout_length|clip_epsilon|critic_loss_weight|actor_entropy,5|3|3|3,405,3.0,0.7704585187737836,4.518588962070978e-118,1.0,3638.406901983567,2036.8177469457335,337.934575398763,6684.716796875
+Chap1,ant,128,135,135,True,4,rollout_length|clip_epsilon|critic_loss_weight|actor_entropy,5|3|3|3,405,3.0,0.8110113440713553,1.3015009887989986e-130,1.0,3469.128173465493,2167.802653883481,75.42820294698079,6978.357096354167
+Chap1,ant,256,135,135,True,4,rollout_length|clip_epsilon|critic_loss_weight|actor_entropy,5|3|3|3,405,3.0,0.8477065585725896,1.6270907007000496e-142,1.0,3115.287414236422,2169.2694569077,9.829249382019043,7073.773763020833
+Chap1,ant,512,135,135,True,4,rollout_length|clip_epsilon|critic_loss_weight|actor_entropy,5|3|3|3,405,3.0,0.861014199946559,5.829113338336152e-147,1.0,2465.801021759451,2086.043315488972,11.580074469248453,6759.911783854167
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+Chap3,ant,64,grad_clip_norm,normalize_gae,0.24896351648378795,0.0,240,0.7554389863611624
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data/derived/graphfla_landscape_features_validated.csv ADDED Viewed

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+Chap2,ant,1024,135,3188.104686440362,2686.8255568155796,0.0296296296296296,1.338320072982999,0.3633234071356678,0.9734716711282564,0.4897119341563786,0.4362139917695473,0.074074074074074,0.8650205761316873,0.1349794238683127,-0.7583890620515727,0.925925925925926,0.0,0.1457066187496839,1.490006097289424,0.8459045909054155,1.5475585815037496,1.1079533414501166,2.181424384299558,3153.7750413557196,success,-0.7583890620515727
+Chap2,halfcheetah,all,675,7358.138404220769,4912.086352186124,0.0281481481481481,2.985997362454984,0.3096935071145854,0.844306542651736,0.4850682261208577,0.3656920077972709,0.1492397660818713,0.8302534113060429,0.1697465886939571,-0.17927049191359132,0.8133333333333334,0.0,0.4242623592477629,2.3586529082422794,0.6680669365659893,1.0891417628465898,0.9189727812824572,3.016765060852414,6650.198227161329,success,-0.1792704919135913
+Chap2,halfcheetah,64,135,12321.469943124275,4026.572159200497,0.074074074074074,6.34366697987682,0.0297637765585507,0.3297505949720455,0.3728395061728395,0.3358024691358025,0.291358024691358,0.7777777777777778,0.2222222222222222,-0.1739124363187182,0.6814814814814815,0.0,-0.2111249481388805,2.55265596511332,0.3280102758939706,0.4394148070080435,1.0219894881489835,1.4893366307350877,12740.50652821499,success,-0.1739124363187182
+Chap2,halfcheetah,128,135,10016.73283702709,3847.453509619075,0.0518518518518518,3.981397849244484,0.1261993541990047,0.6136405948839732,0.4477366255144033,0.3390946502057613,0.2131687242798353,0.7818930041152263,0.2181069958847736,0.04418574530171,0.6888888888888889,0.0,0.1321211077753227,2.639140707747744,0.3855331930919846,0.5230967295216146,0.9918766696107264,1.8415051444006387,9847.632702954532,success,0.04418574530171
+Chap2,halfcheetah,256,135,7184.240198921863,3458.8661596160505,0.0592592592592592,3.6204378981270686,0.1643948339894128,0.658452997805475,0.4246913580246914,0.388477366255144,0.1868312757201646,0.8436213991769548,0.1563786008230452,-0.1619508298635828,0.8,0.0,0.5247302379941086,3.081712220300249,0.48324503234409,0.7758333520021189,0.977905994435417,2.4210618692899435,7018.037817077993,success,-0.1619508298635828
+Chap2,halfcheetah,512,135,4627.010407956441,3190.8468819469854,0.0518518518518518,2.959235932664223,0.2475084624078122,0.7915884153544256,0.4452674897119341,0.4065843621399177,0.1481481481481481,0.8641975308641975,0.1358024691358025,-0.2654602095087606,0.8666666666666667,0.0,0.6413650953762589,2.7693857409671314,0.6921814766320655,1.047540277247355,0.9938826054070334,2.8848254243239504,4168.6981706962815,success,-0.2654602095087606
+Chap2,halfcheetah,1024,135,2641.2386340741755,2457.700628219866,0.037037037037037,2.8665113839306064,0.2690250203866653,0.8566378720964016,0.4707818930041152,0.3934156378600823,0.1358024691358024,0.8880658436213992,0.1119341563786008,-0.2958826247208016,0.8962962962962963,0.0,1.0136944966882748,3.0915625382790255,0.93397623201617,2.208625397204874,0.6447853828243889,5.889403567983067,1271.1563629774355,success,-0.2958826247208016
+Chap2,hopper,all,675,2756.30616339813,1186.0554571997782,0.0355555555555555,3.0561968320151585,0.2850654226225541,0.8718010898090184,0.4544249512670565,0.3748927875243664,0.170682261208577,0.7594541910331384,0.2405458089668616,0.007022121327050339,0.6725925925925926,0.0,-0.8682093842997323,2.4154883214665563,0.4306252367546991,0.5193070903281968,1.15325918233034,1.2823531593158124,3348.8132244295793,success,0.0070221213270503
+Chap2,hopper,64,135,3408.686377179182,507.7120897560094,0.074074074074074,10.75156106834961,0.1366410765151268,0.5103555022672244,0.3679012345679012,0.3670781893004115,0.2650205761316872,0.7753086419753087,0.2246913580246913,0.0805842177950969,0.4888888888888889,0.0,-0.5405227971558969,2.2576011837814995,0.1495012917505995,0.2498970427296806,1.0412265994583283,0.6045587113017149,3619.0238044469943,success,0.0805842177950969
+Chap2,hopper,128,135,3332.8944989286824,603.7156452190796,0.074074074074074,5.538663460482412,0.0914377247350663,0.5299919896982197,0.3679012345679012,0.3720164609053498,0.2600823045267489,0.7547325102880659,0.2452674897119341,-0.0448227903833547,0.674074074074074,0.0,-1.024037825809098,3.9195043792337487,0.1818131742837418,0.2469945182310071,1.0585081761837816,0.8945063096547706,3589.189476678695,success,-0.0448227903833547
+Chap2,hopper,256,135,2917.9000082133725,1039.0716411252513,0.037037037037037,2.5998061178464056,0.2432556106129665,0.8463399449203521,0.4411522633744856,0.4,0.1588477366255144,0.7547325102880659,0.2452674897119341,-0.2786450115678776,0.9111111111111112,0.0,-0.9128533662000512,2.620035229291339,0.3574288236701175,0.4252616367560942,1.1296738128743793,1.1070615414830354,3443.376004189149,success,-0.2786450115678776
+Chap2,hopper,512,135,2398.0347958188,1285.940154542777,0.0592592592592592,1.9625674100209405,0.3013702149913546,0.8899207077854823,0.4674897119341564,0.4,0.1325102880658436,0.7884773662551441,0.2115226337448559,-0.3084860375421677,0.6148148148148148,0.0,-0.3097629654801684,1.5459247594406222,0.5382447002760028,0.8551650286865834,1.2103103245345754,1.3540409066335546,2957.050481005234,success,-0.3084860375421677
+Chap2,hopper,1024,135,1724.015136850616,1303.8143563948,0.0222222222222222,1.4380755874901108,0.3214805358548032,0.91785833720662,0.51440329218107,0.4049382716049383,0.0806584362139917,0.8329218106995885,0.1670781893004115,-0.5934588370616777,0.9111111111111112,0.0,0.3573155365488855,1.556766471902388,0.7590828320592274,1.9189405043431564,0.7472438124342952,3.018122098078194,1134.0169615237182,success,-0.5934588370616777
+Chap2,walker2d,all,675,5211.0436042729125,2191.7879966651935,0.0266666666666666,2.909107071391074,0.2973294364580222,0.8976529954828638,0.4909941520467836,0.3447953216374269,0.1642105263157894,0.7447173489278752,0.2552826510721248,-0.0749608506425235,0.8740740740740741,0.0,-1.0248699265789274,3.1378422469414335,0.4209163300229473,0.392264038090407,1.1218117093243114,1.4845823356966985,5991.76563622261,success,-0.0749608506425235
+Chap2,walker2d,64,135,6337.55889666522,1079.2834134872633,0.037037037037037,2.8303085201550933,0.1580949121166167,0.6321146159892527,0.4353909465020576,0.3539094650205761,0.2106995884773662,0.7275720164609053,0.2724279835390947,-0.3253843091128611,0.9185185185185184,0.0,-0.3019351106248091,3.070783005430475,0.1709338126212087,0.2133472313567985,0.997966024482904,0.9134793886854428,6360.786097430786,success,-0.3253843091128611
+Chap2,walker2d,128,135,6315.219119903188,1008.2568493252624,0.0592592592592592,3.555166629506544,0.0958600023731881,0.5031030549426658,0.3843621399176954,0.3703703703703703,0.2452674897119341,0.7695473251028807,0.2304526748971193,-0.0710094147916425,0.8962962962962963,0.0,-0.3289624346994069,2.8737827744773874,0.1602497062510639,0.237606570791271,1.0153906148799978,0.8363922653895552,6448.36842968071,success,-0.0710094147916425
+Chap2,walker2d,256,135,5695.201501314139,1393.527934583861,0.0518518518518518,2.8746668438736256,0.2659309514739367,0.8639513172391391,0.4699588477366255,0.3654320987654321,0.1646090534979424,0.7662551440329218,0.2337448559670781,-0.0905621501141389,0.8592592592592593,0.0,-0.677077150698393,2.9808263805215116,0.2455958758262059,0.2775293163550761,1.0309992603073612,1.069821519683586,5961.525662523908,success,-0.0905621501141389
+Chap2,walker2d,512,135,4403.960673372246,2434.403190493613,0.0296296296296296,1.592034512820875,0.3334679541231863,0.9476537074084188,0.5473251028806584,0.3604938271604938,0.0921810699588477,0.7810699588477367,0.2189300411522633,-0.4477521882496094,0.9555555555555556,0.0,-0.3582458613178531,1.9015675664631724,0.5548346321982284,0.7847528563637807,1.159313958068929,1.6592201054589837,5267.484217873007,success,-0.4477521882496094
+Chap2,walker2d,1024,135,3303.277830109773,2637.498303968944,0.0222222222222222,1.4395036073054626,0.3425975091036579,0.9599943265277732,0.5333333333333333,0.3917695473251029,0.0748971193415637,0.8386831275720165,0.1613168724279835,-0.4164972912743432,0.9851851851851852,0.0,0.1297126795462106,1.533366994640837,0.8014225745017518,1.545126063397526,1.0486857604290485,2.3727409751195916,3309.8713257348313,success,-0.4164972912743432
+Chap3,ant,all,400,3231.5202673042313,2154.079769310001,0.0225,1.0521084225451118,0.3858711105424949,0.9212163139683298,0.6206349206349207,0.2971428571428571,0.0822222222222222,0.7357142857142858,0.2642857142857142,-0.30259969066736325,0.9175,0.0,-0.1676510076219664,1.7067672462572436,0.6674188152272776,1.1493297001982752,1.111529521297936,2.0073060352850103,3692.3180407957734,success,0.037228668656984
+Chap3,ant,64,80,4648.308931485812,1358.730426138835,0.0375,1.2442397468106257,0.2590434123513583,0.8050174256739453,0.4851851851851851,0.3444444444444444,0.1703703703703703,0.6851851851851852,0.3148148148148147,-0.4125717370803852,0.9375,0.0,-0.8056308500003424,3.504147893881837,0.2941506175780416,0.3925060615549088,1.0500750605914202,1.3942768463301476,5000.943891033397,success,0.1711133297220092
+Chap3,ant,128,80,4225.251157415906,1689.4024539986133,0.05,0.7897103098059315,0.3181504902752765,0.8778332245435438,0.5518518518518518,0.362962962962963,0.0851851851851851,0.6796296296296296,0.3203703703703704,-0.3547200895751765,0.9375,0.0,-0.7253243726741143,2.865106280889398,0.4023574426606694,0.4563709372776572,1.0468766681662476,1.5193525607538656,4615.619659364294,success,0.2074632805392543
+Chap3,ant,256,80,3424.409153737625,2003.7387718071377,0.0375,0.6858459591279444,0.3291914615650468,0.9112260548991165,0.6259259259259259,0.3166666666666666,0.0574074074074074,0.7074074074074074,0.2925925925925926,-0.355472702858758,0.9375,0.0,-0.1952282758738709,1.892138562599608,0.5888258942458734,0.8353615187457808,1.1012566999030873,1.812119184046794,3754.09178017122,success,-0.0183481366471753
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+Chap3,ant,1024,80,1477.4394214714566,1817.0292441064937,0.0125,1.0735014390532946,0.2865555217722924,0.9106598345476054,0.6537037037037037,0.324074074074074,0.0222222222222222,0.8740740740740741,0.1259259259259258,-0.6293693588261929,1.0,0.0,1.0631539587302663,2.8977948695087887,1.2376096360776696,6.78434676643829,0.2471815458446539,17.064746013525436,177.82751383555353,success,-0.6551484991438463
+Chap3,halfcheetah,all,400,4199.932795191904,4358.230231173574,0.025,1.7155857427705652,0.2913445538808495,0.8663519070387192,0.4844444444444444,0.3595238095238095,0.156031746031746,0.8561904761904762,0.1438095238095238,-0.23534426084167995,0.9375,0.0,1.9462576888884509,6.449777637262205,1.0389900190515633,1.3914970869767935,0.6270064976267471,7.858441687250432,2333.849776019086,success,0.0211697435357565
+Chap3,halfcheetah,64,80,6394.675344729423,4642.288759411595,0.05,1.2885235814563143,0.2896577124700806,0.803412184239535,0.4018518518518518,0.3796296296296296,0.2185185185185185,0.8722222222222222,0.1277777777777777,-0.4884713817389981,0.875,0.0,1.3209505094369995,3.805408183264968,0.7305418471145366,1.3245067111489637,0.7009296783833913,3.844176291144269,3923.738223861354,success,-0.1201778365592063
+Chap3,halfcheetah,128,80,5886.01994714737,5291.019126359627,0.0625,1.3383546100896535,0.2232658571564454,0.8127711712502412,0.4111111111111111,0.3518518518518518,0.237037037037037,0.8759259259259259,0.1240740740740741,-0.4386796159978454,0.85,0.0,1.6414571233454134,4.43996216997911,0.9045843081515348,1.1278923622804211,0.6651970488210955,4.905426848271532,3201.450133669264,success,-0.1561861059432839
+Chap3,halfcheetah,256,80,4225.255387079716,3981.9898479025296,0.05,1.4422395404221071,0.2342897346134203,0.8234470230587627,0.4611111111111111,0.3592592592592593,0.1796296296296296,0.8685185185185185,0.1314814814814815,-0.5168004162735008,0.95,0.0,2.156281306138353,7.3046436230191985,0.948371801080167,1.2069888145409513,0.6055716809801314,7.58366865733713,2357.26933517063,success,-0.2776775696500611
+Chap3,halfcheetah,512,80,2746.3551436384523,3026.6518326126256,0.025,1.4689172167686566,0.2203878562968262,0.8045054355898899,0.5018518518518519,0.3759259259259259,0.1222222222222222,0.8814814814814815,0.1185185185185184,-0.5258654730632603,0.9875,0.0,2.2851259154523618,8.39832808685547,1.1090144784293534,1.5709084057004046,0.5757372739087696,9.8699265155954,1382.0095950929972,success,-0.4758572838823368
+Chap3,halfcheetah,1024,80,1747.3581533645588,2149.377727256813,0.0125,1.7849903817688704,0.1987362645133834,0.847248162053361,0.4703703703703704,0.3888888888888889,0.1407407407407407,0.8703703703703703,0.1296296296296296,-0.4527594751142372,1.0,0.0,2.2622139430170844,7.784138319584369,1.2378335834451588,1.3588044797584284,0.5265053898636508,10.757650135139302,763.0681671329178,success,-0.4650464143012586
+Chap3,hopper,all,400,2264.0338754038016,1143.9376990812616,0.05,1.934682174651387,0.2561080149559851,0.7894354381697684,0.4265079365079365,0.3692063492063492,0.2042857142857143,0.7984126984126985,0.2015873015873015,-0.13032313482369545,0.8225,0.0,-0.2405777562078535,1.7688903198100772,0.5058980434657553,0.8049556682430051,1.0990474511118753,1.6061978989218593,2574.112350798075,success,0.1995107134646249
+Chap3,hopper,64,80,2743.55104675293,777.1551017663829,0.1125,2.15057164955629,0.0985807930417654,0.54488728881031,0.3814814814814815,0.3277777777777778,0.2907407407407407,0.8,0.1999999999999999,-0.3223065078113779,0.7,0.0,-0.3111204528267297,2.252891595669238,0.2850533209851146,0.452622559333415,1.0066214882397435,1.087567510520571,2815.89324706539,success,-0.0575214184393535
+Chap3,hopper,128,80,2623.4182550748187,985.0154095996138,0.05,2.0504184990949685,0.1688530234800926,0.6610059413229501,0.4259259259259259,0.3518518518518518,0.2222222222222222,0.7574074074074074,0.2425925925925925,-0.313110591582697,0.9,0.0,-0.4365274233531254,2.4598814135594127,0.3778391331976966,0.4878748206597292,1.034507461721442,1.414434905784409,2754.3774831846213,success,0.0804622534130271
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+Chap3,hopper,512,80,1986.3407095114387,1186.7319238587934,0.0375,1.1255689007513143,0.2967920834440058,0.8141999496453096,0.4592592592592592,0.4074074074074074,0.1333333333333333,0.8111111111111111,0.1888888888888888,-0.4616582896694565,0.9375,0.0,0.1010269983887885,1.490274736071939,0.6012157229997257,1.213558395524322,0.9744409940461808,1.9614807377838104,1923.1746508226656,success,-0.2907922125744858
+Chap3,hopper,1024,80,1475.032393014431,1083.324899046702,0.0375,1.3445088251368398,0.2816869858794268,0.8422116105035413,0.4444444444444444,0.4259259259259259,0.1296296296296296,0.8222222222222222,0.1777777777777778,-0.0863218685550135,0.8375,0.0,0.5966374359172041,1.76700173719043,0.7390751751759689,1.983348548912768,0.6589891615312218,3.362455216316536,740.1142368264949,success,0.0794378864088692
+Chap3,walker2d,all,400,5079.748603722254,2319.2404913629825,0.0275,1.5722042559706102,0.3257570075868101,0.893967054031142,0.5176190476190476,0.3503174603174603,0.132063492063492,0.7219047619047619,0.278095238095238,-0.2134190961435156,0.9475,0.0,-0.6577186150072425,2.5447710633484357,0.4571377779098653,0.542594275098379,1.0909450036540598,1.6338529062851448,5711.178326013529,success,0.1040618978563484
+Chap3,walker2d,64,80,6422.027537882328,1271.6874505396138,0.0375,1.6697551333116587,0.230280389497739,0.7427526069397997,0.4462962962962963,0.3703703703703703,0.1833333333333333,0.7092592592592593,0.2907407407407407,-0.4870520211274726,0.95,0.0,-0.6601963385795953,3.0885210616415053,0.1992689672001146,0.2576225708703168,1.0426222212594856,0.9088123969518302,6743.24570965073,success,-0.1110026323695586
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+Chap3,walker2d,256,80,5505.116830174129,1706.4489133745803,0.025,0.900069351519384,0.3068398664846773,0.8674319261612272,0.5407407407407407,0.3685185185185185,0.0907407407407407,0.7481481481481481,0.2518518518518519,-0.6952454732172024,0.9875,0.0,-0.2798923958535267,2.438815691880546,0.3119307568491788,0.4144967518714223,1.0093229862449806,1.3043933996661703,5645.867107584263,success,-0.6779278221178048
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+Chap3,walker2d,1024,80,2920.4862201213837,2420.595000981753,0.025,0.8742228607133199,0.3165277406625544,0.9357463184106106,0.5185185185185185,0.4388888888888889,0.0425925925925925,0.8666666666666667,0.1333333333333333,-0.5077378488076302,0.9875,0.0,0.3269855446753799,1.7877190527927074,0.8340621600782766,1.72043401747257,0.9129525215421987,3.0098833675296124,2448.658252130057,success,-0.5543673120680115
+Chap4,ant,all,675,2998.2934326350833,2175.843941326105,0.0281481481481481,3.0345190541815317,0.3931760085875586,0.925307368874893,0.5449512670565302,0.3371539961013645,0.1178947368421052,0.797738791423002,0.202261208576998,-0.04040090107197918,0.8977777777777778,0.0,0.048588904279754,1.5739700678071482,0.7262322783054198,1.4513297267058078,1.0093066939003132,2.28899310324246,2992.043262961708,success,-0.0404009010719791
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+Chap1,ant,1024,135,0.03038535308039204,0.030174883422481653,0.1282126227164158,0.00626315018987946,0.049673476330635964,0.040499359252474915,0.10910251107010263,0.0480216988243483,Chap1_ant_1024
+Chap1,halfcheetah,64,135,0.11469348777731066,0.12859068440532204,0.13701732199362043,0.10505035988308238,0.09300518103387723,0.1312136857879211,0.17949125518575046,0.12702176699792636,Chap1_halfcheetah_64
+Chap1,halfcheetah,128,135,0.0825982387457628,0.08830499236398151,0.14631541473219678,0.09504377012088328,0.054888845907231455,0.0193605773684845,0.14332800125525194,0.09016247169181567,Chap1_halfcheetah_128
+Chap1,halfcheetah,256,135,0.09233233345708794,0.02587477302922132,0.18361627989030424,0.07873185449287852,0.1677184135533002,0.06339918409932051,0.1256482074179215,0.1212398847512042,Chap1_halfcheetah_256
+Chap1,halfcheetah,512,135,0.1273595739792717,0.2047520958123731,0.09748790686727471,0.14123628899890125,0.06591350125494254,0.14342139181215136,0.11693873297011544,0.176366623923413,Chap1_halfcheetah_512
+Chap1,halfcheetah,1024,135,0.17700552551043158,0.1717363832667512,0.18231495094653968,0.1917400579123558,0.22441191109812367,0.13230212505030498,0.1634871935586031,0.11937930607037914,Chap1_halfcheetah_1024
+Chap1,hopper,64,135,0.0495354669883349,0.04751119254920066,0.08353303525477515,0.03974188404067433,0.05850207445009076,0.04533952518208011,0.06373289690916686,0.05315598522678424,Chap1_hopper_64
+Chap1,hopper,128,135,0.04216478991528115,0.039267853328006086,0.051872916887500876,0.04305927381544502,0.036239443579227135,0.027593737820141673,0.03978257841994108,0.05645338943202784,Chap1_hopper_128
+Chap1,hopper,256,135,0.05891459309133792,0.06349741609840678,0.12680090515537584,0.0918680903995683,0.10174989055565295,0.0437095522826259,0.11373039836433192,0.0962820343172474,Chap1_hopper_256
+Chap1,hopper,512,135,0.05638198819031469,0.07758213789947986,0.09041184044112563,0.052002603413940196,0.09499137495560182,0.057292696935764796,0.09636931599138596,0.0831217089914079,Chap1_hopper_512
+Chap1,hopper,1024,135,0.07341128754120411,0.060852836017058834,0.10156363785716718,0.06724296642517283,0.05597199629392356,0.13702865665960517,0.07199219959809718,0.07045946390053978,Chap1_hopper_1024
+Chap1,walker2d,64,135,0.08612998866862158,0.069705900786968,0.09187519433252092,0.08335702077856823,0.06876717386463295,0.09251597535388498,0.07463254966568936,0.09045787252281953,Chap1_walker2d_64
+Chap1,walker2d,128,135,0.06426237509817143,0.0596107945061071,0.08988382175908614,0.07592386004179591,0.055856245729000185,0.015232339536397826,0.07448446260551149,0.0890437318733036,Chap1_walker2d_128
+Chap1,walker2d,256,135,0.021141614751087168,0.016806029750647704,0.047430352674800516,0.02017878962074802,0.013353415856316896,0.03831376129652796,0.014416543995101144,0.029678489069144443,Chap1_walker2d_256
+Chap1,walker2d,512,135,0.04500890485327192,0.07564242766421689,0.0495571035071679,0.05656965297460141,0.03742966331385548,0.05303831628475912,0.04154582215775905,0.05887924996415422,Chap1_walker2d_512
+Chap1,walker2d,1024,135,0.050149847866488996,0.02916730308622591,0.029745926439529134,0.04588004843510008,0.030694206443856835,0.035190649980933145,0.014361655595023632,0.00650634568653384,Chap1_walker2d_1024
+Chap2,ant,64,135,0.04189624877436081,0.032382950468254415,0.10080192914244054,0.05501951433986848,0.031537833434117396,0.06151196855466856,0.07517552525445702,0.06206248705744376,Chap2_ant_64
+Chap2,ant,128,135,0.045020419538042714,0.04543344128333507,0.04369996830836119,0.046936493206666416,0.014535408531010572,0.05420458067284615,0.02521373339095114,0.03532772624733617,Chap2_ant_128
+Chap2,ant,256,135,0.017530339064139536,0.026601149629617887,0.022788178149167556,0.022213603436900452,0.01667692565540324,0.009957864950987808,0.012061737613250342,0.014258670382101235,Chap2_ant_256
+Chap2,ant,512,135,0.04054770662262053,0.03302899165330439,0.043076709159641964,0.022696797781519305,0.028278743628448642,0.03234985499357457,0.030271035511438792,0.043917536947260256,Chap2_ant_512
+Chap2,ant,1024,135,0.026596012768698864,0.024618156836110062,0.02246351236811902,0.018220517812728362,0.014444339410388973,0.023870411776398995,0.0194777347120181,0.024818261940578984,Chap2_ant_1024
+Chap2,halfcheetah,64,135,0.03341609317767806,0.03699670158189658,0.0695912662358592,0.044642859052912195,0.04112905636027657,0.09133456747609572,0.06774277238265966,0.06985557395858122,Chap2_halfcheetah_64
+Chap2,halfcheetah,128,135,0.09143738380255598,0.11536085558139134,0.14477622479337868,0.1270408946993525,0.1280171833006761,0.12407598786367142,0.10151492939957849,0.11920614072140504,Chap2_halfcheetah_128
+Chap2,halfcheetah,256,135,0.14125815716712822,0.15129158219478672,0.25544218989096845,0.16041177692819436,0.21099699441569694,0.267386673049517,0.18558993935892293,0.18125243483054496,Chap2_halfcheetah_256
+Chap2,halfcheetah,512,135,0.0750076949863531,0.06956273260727787,0.198050852100089,0.0998291592280118,0.0833419051289484,0.11308225700417282,0.1385268256007218,0.14876463330670003,Chap2_halfcheetah_512
+Chap2,halfcheetah,1024,135,0.13727003383592667,0.09201286671392327,0.2212411050931256,0.13607967266998006,0.14281812808485417,0.14997198768453607,0.17737291498303037,0.2137704968815574,Chap2_halfcheetah_1024
+Chap2,hopper,64,135,0.07311327107035256,0.07133414779580047,0.15307903326724284,0.09163674253357346,0.04065802172852516,0.1195180556926853,0.07042777313788859,0.08999134592146157,Chap2_hopper_64
+Chap2,hopper,128,135,0.01754743288659085,0.03207377386698148,0.07219165134261642,0.059919302539787764,0.027299911462952752,0.03577318217801402,0.06050059373912274,0.059000465539953875,Chap2_hopper_128
+Chap2,hopper,256,135,0.013056460777091758,0.01635142098723035,0.013378026130564958,0.014021707671233504,0.015350354290479689,0.021986621681726867,0.015085833678684619,0.018141782230591964,Chap2_hopper_256
+Chap2,hopper,512,135,0.027524894660708028,0.03079148699779215,0.07140557208154777,0.02051706352262096,0.01378534347098403,0.041753222308751455,0.0535044947414345,0.0439934958021599,Chap2_hopper_512
+Chap2,hopper,1024,135,0.06377073955891639,0.049675176403804706,0.061226560543697774,0.04707119176393024,0.03631527883952578,0.05849720982696194,0.053591710683187445,0.042997646658559416,Chap2_hopper_1024
+Chap2,walker2d,64,135,0.0903495068833706,0.05392154421568958,0.036074874707672885,0.06251023358001313,0.033945038847528204,0.05509136632546345,0.03448658528239109,0.042651437814818366,Chap2_walker2d_64
+Chap2,walker2d,128,135,0.03750464585672341,0.06575715543872587,0.0790291142883598,0.04267435955571982,0.0387288236503761,0.06980002360245802,0.06366417047848377,0.07169271162389948,Chap2_walker2d_128
+Chap2,walker2d,256,135,0.036420018981391036,0.04385969384055299,0.07461795395108584,0.03951350755662871,0.022227895970441593,0.05618573249139229,0.028258971716753012,0.030973121368485245,Chap2_walker2d_256
+Chap2,walker2d,512,135,0.037724207905624724,0.05620309685809771,0.04149108385518911,0.036932017771997554,0.02705781345514825,0.0774467248618214,0.048978831605646124,0.029793820087366595,Chap2_walker2d_512
+Chap2,walker2d,1024,135,0.047388470566641736,0.0449902780208155,0.06758652133937629,0.030321153846796706,0.01107198585010968,0.05334091139985102,0.06204837495211214,0.02282322417600524,Chap2_walker2d_1024
+Chap3,ant,64,80,0.025936384783701267,0.025613026771689907,0.07034443367523244,0.02164953960602492,0.017870250539615967,0.03154899852809744,0.032354137425430404,0.039869772393592046,Chap3_ant_64
+Chap3,ant,128,80,0.007815122012774272,0.004212628208788512,0.005705519074402118,0.020886889331134584,0.004290207636793884,0.00972325238631647,0.004701856793932894,0.004323984785166391,Chap3_ant_128
+Chap3,ant,256,80,0.016847116823584665,0.032545150685920385,0.04480805258461259,0.013177959796374927,0.015086265749682743,0.043978497272183927,0.010530084674043646,0.022670682489652583,Chap3_ant_256
+Chap3,ant,512,80,0.10431896857749831,0.0687501138187184,0.05508201345406777,0.06042236482044072,0.050445634841099096,0.09963035161593312,0.013261418466263183,0.033189133978009364,Chap3_ant_512
+Chap3,ant,1024,80,0.05250792779413198,0.08977854667309389,0.04140659465258134,0.017972454508349847,0.025291867597652652,0.07190604909404652,0.0181632809578842,0.039128649289547075,Chap3_ant_1024
+Chap3,halfcheetah,64,80,0.006320084307199955,0.03512656619470192,0.1343701588588926,0.025395467714842534,0.013271168107158398,0.00693407042890454,0.09133855995817879,0.022361334047603404,Chap3_halfcheetah_64
+Chap3,halfcheetah,128,80,0.06045263873293194,0.049199547881499626,0.08680063070429947,0.08227624435115102,0.0493326827092401,0.09019054629793412,0.12025706796158683,0.08890968077440949,Chap3_halfcheetah_128
+Chap3,halfcheetah,256,80,0.12354492921914033,0.1377281654798253,0.17849405836172255,0.21814028739108493,0.16045573032688695,0.10276819913895248,0.2852185639500874,0.1322111694084906,Chap3_halfcheetah_256
+Chap3,halfcheetah,512,80,0.18445780646793003,0.10404676574395803,0.1313555877786079,0.13641778181825726,0.1404111837516058,0.0965428272103224,0.08077620942055624,0.05715351394587097,Chap3_halfcheetah_512
+Chap3,halfcheetah,1024,80,0.1437930772369255,0.051701296138566964,0.106467972793662,0.06257649587725322,0.12724398502784123,0.05214587118899493,0.08940876792160235,0.0032150704862611208,Chap3_halfcheetah_1024
+Chap3,hopper,64,80,0.04964307761094718,0.03734529352005887,0.14574632020628442,0.06054373218620779,0.08350812467223105,0.11081588087637106,0.08787842858748598,0.09677146406966015,Chap3_hopper_64
+Chap3,hopper,128,80,0.018117549739243805,0.018039066494801966,0.027536448549767258,0.03410530774806704,0.024808116743267,0.028206436669611378,0.014347689173354331,0.013671067591729336,Chap3_hopper_128
+Chap3,hopper,256,80,0.009395854000755785,0.015873444764172625,0.03688795914367358,0.02086678642165511,0.007413898327437177,0.021781272424769387,0.042742918685556,0.019554922039942607,Chap3_hopper_256
+Chap3,hopper,512,80,0.032458582729797826,0.06649088636463946,0.06990835520588534,0.08208474177106082,0.02613220023407557,0.054505710513565876,0.048859033882865666,0.07343307562844655,Chap3_hopper_512
+Chap3,hopper,1024,80,0.024938315566714827,0.019985690868819645,0.03626885401174655,0.028347946022615374,0.014860209000387151,0.026360949756696707,0.014570374311299202,0.026875549250270008,Chap3_hopper_1024
+Chap3,walker2d,64,80,0.04071734366945675,0.03424771818784851,0.020985042253029666,0.030204928777787014,0.019978051703214553,0.023717457684116823,0.02406720172386804,0.03255071870258788,Chap3_walker2d_64
+Chap3,walker2d,128,80,0.037031445427707255,0.032414934468925696,0.07535647923081845,0.02181849632143168,0.01050537670936652,0.012215557719148631,0.03723093163238822,0.05387722686148708,Chap3_walker2d_128
+Chap3,walker2d,256,80,0.06856085957746101,0.03742169182190312,0.0037567299123505366,0.024898563375499734,0.02938400124741781,0.048908404474917025,0.014843568461408413,0.033968097584951604,Chap3_walker2d_256
+Chap3,walker2d,512,80,0.03211392869361688,0.021818397523873767,0.008111612176675503,0.009139383943693995,0.028648834730124518,0.0139002212783507,0.005001221534849622,0.008886834178925041,Chap3_walker2d_512
+Chap3,walker2d,1024,80,0.05961359646661892,0.014314994261555322,0.03767419660961819,0.04209861273308601,0.02810956632940942,0.07311864183369549,0.047943931608097484,0.03735962858871989,Chap3_walker2d_1024
+Chap4,ant,64,135,0.053666237933338065,0.042829462783932286,0.05662362016533139,0.0659613547776658,0.04271731730344605,0.04373002807626007,0.041346831802402714,0.06366638528836428,Chap4_ant_64
+Chap4,ant,128,135,0.021743168180996232,0.022177592814306347,0.027011131053066663,0.031289266176168444,0.008964566761970664,0.011447271543456575,0.0319312898192788,0.01505120008794128,Chap4_ant_128
+Chap4,ant,256,135,0.05610743355356298,0.05368894712830576,0.08619664075424835,0.05736913982613001,0.057366138783887466,0.031216621876169286,0.06745425916732992,0.07434272978035264,Chap4_ant_256
+Chap4,ant,512,135,0.01614110241413675,0.026283183524928522,0.033333073201979,0.02020605210095331,0.030513923611854604,0.018867692054449214,0.018755845323597548,0.01706932360607169,Chap4_ant_512
+Chap4,ant,1024,135,0.059029471113987673,0.05207507248339677,0.029417412126016652,0.04695858220459943,0.04955707215079438,0.021764602075058127,0.04971180218826525,0.05052441404550535,Chap4_ant_1024
+Chap4,halfcheetah,64,135,0.08350170930322469,0.1132335037472183,0.09092890095958472,0.10311641619743346,0.11565317541177367,0.05927113728797392,0.0858221484763396,0.08969759379187422,Chap4_halfcheetah_64
+Chap4,halfcheetah,128,135,0.08998697773948117,0.07131087721652676,0.11760492084579857,0.11824388105746493,0.1447083256240497,0.14359095190331472,0.120728275633194,0.14481481301099372,Chap4_halfcheetah_128
+Chap4,halfcheetah,256,135,0.03654927891065933,0.0338920918501591,0.07679965876643205,0.014368741488568015,0.022820792050641768,0.008776677714118972,0.10294679402580202,0.06263968734277195,Chap4_halfcheetah_256
+Chap4,halfcheetah,512,135,0.1788660607262225,0.17644882793070635,0.22650244837739852,0.15151849328833875,0.09882709138192516,0.1602253763957676,0.2727644301406353,0.21758313032517954,Chap4_halfcheetah_512
+Chap4,halfcheetah,1024,135,0.09270769929474104,0.07064056546865614,0.04185799044023364,0.104011714676373,0.03763879676252348,0.027312982599871544,0.10422908973956754,0.05100811785765687,Chap4_halfcheetah_1024
+Chap4,hopper,64,135,0.03784538401836082,0.05385232417975446,0.07668103602249783,0.06833424545365857,0.06566906782905045,0.0465976777499114,0.05329843188506219,0.06752737602576843,Chap4_hopper_64
+Chap4,hopper,128,135,0.07692769308401151,0.08942361463749415,0.11850250726325329,0.09979124580935678,0.08431935533265175,0.06607952027994382,0.09362392268721739,0.10442635752076472,Chap4_hopper_128
+Chap4,hopper,256,135,0.02583324304585702,0.034623714133294174,0.07402584473578915,0.04104189396875535,0.023692545951525087,0.025002335040222874,0.05023744874565035,0.06405891268592662,Chap4_hopper_256
+Chap4,hopper,512,135,0.01787829397389041,0.030975391029165945,0.011870047178350787,0.03015355653033542,0.014239558066609193,0.0024803526681058774,0.018962080763554563,0.04037712213880491,Chap4_hopper_512
+Chap4,hopper,1024,135,0.05164128948791961,0.042318869685564864,0.04723049830753951,0.03207253862944905,0.04968783243938473,0.03599511666930229,0.05751013419949606,0.03911612419425882,Chap4_hopper_1024
+Chap4,walker2d,64,135,0.05542150050990528,0.06224671089910536,0.08975138208632463,0.0417154597722389,0.03193688840359971,0.061587131664456216,0.08436690181383849,0.059292801022950724,Chap4_walker2d_64
+Chap4,walker2d,128,135,0.07555551546654761,0.07976740012503282,0.04964101366831688,0.051940351018680574,0.03834435117204751,0.023640939784680404,0.045990995213436185,0.04557387670602138,Chap4_walker2d_128
+Chap4,walker2d,256,135,0.026710097909591817,0.036840587813347536,0.024371834905843097,0.03824534210987536,0.018576104655824047,0.025322029377733223,0.027128661319299457,0.02932007890894096,Chap4_walker2d_256
+Chap4,walker2d,512,135,0.028507708608723887,0.054254855340105414,0.02452335217939814,0.03637128847926373,0.025170415550114476,0.02872932318106436,0.0018100146403232536,0.006978895318207777,Chap4_walker2d_512
+Chap4,walker2d,1024,135,0.08776559516612174,0.08230608006425061,0.05959286211474272,0.08182669213472941,0.04277956366225942,0.041791733403151204,0.036493873933140145,0.10220091940142162,Chap4_walker2d_1024
+Chap5,ant,64,135,0.03230350199948546,0.03223389821691618,0.0544301085118364,0.03969136227186639,0.019378995526243704,0.019729814960771246,0.05199320829676211,0.05206007956148795,Chap5_ant_64
+Chap5,ant,128,135,0.014194766861689412,0.008359752773543503,0.024966731311237302,0.022401183031254164,0.017298475120750747,0.019384799142201117,0.018503889826562953,0.02151143596901786,Chap5_ant_128
+Chap5,ant,256,135,0.015384441209600652,0.011445522767249323,0.018616941571322553,0.007387873765661798,0.008645672003372486,0.01220476468242473,0.009618141339527509,0.014861610475184181,Chap5_ant_256
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