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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_df_train.csv b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..035d2b7abe85d1d5586b5f267fe26074a3985226
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_df_train.csv
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_eval.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..47899bb8770f27e350160031f5c757e94f23cce0
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_eval.json
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_scalar_eval.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dbcf1df136244438df2737fae16be391405270d
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_scalar_train.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dbcf1df136244438df2737fae16be391405270d
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_scalar_train.json
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+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_train.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..47899bb8770f27e350160031f5c757e94f23cce0
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s0_session_metrics_train.json
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_df_eval.csv b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..940746c75d7468b8aa8e940863c7115e881f3fed
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_df_eval.csv
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_df_train.csv b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..940746c75d7468b8aa8e940863c7115e881f3fed
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_df_train.csv
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_eval.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b37d4704b56c1acb16262004f601c17bb5362e
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_eval.json
@@ -0,0 +1,1426 @@
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_scalar_eval.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc4af2237bb6684dcef1f546c4e98105c944d17
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_scalar_train.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc4af2237bb6684dcef1f546c4e98105c944d17
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
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+  "stability": 0.9956641793251038
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_train.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b37d4704b56c1acb16262004f601c17bb5362e
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s1_session_metrics_train.json
@@ -0,0 +1,1426 @@
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_df_eval.csv b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37d710df8ebb976df58fcc58683dcae9a3b1c3cf
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_df_eval.csv
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_df_train.csv b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37d710df8ebb976df58fcc58683dcae9a3b1c3cf
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_df_train.csv
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_eval.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb9d2c3061e18f47a3b22e2cfff657716a96b38b
--- /dev/null
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_scalar_eval.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..6647e237f361006814901370af44f3cf50316bca
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_scalar_train.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..6647e237f361006814901370af44f3cf50316bca
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
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+  "stability": 0.9945368766784668
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_train.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb9d2c3061e18f47a3b22e2cfff657716a96b38b
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s2_session_metrics_train.json
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_df_eval.csv b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a967f3ed72dba5533a016639a13f0f21fb70aac2
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_df_eval.csv
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_df_train.csv b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a967f3ed72dba5533a016639a13f0f21fb70aac2
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_df_train.csv
@@ -0,0 +1,201 @@
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_eval.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..de8685f4005be5a321076455cd78dd4b4615691a
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_eval.json
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_scalar_eval.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..593a18404597ac20a2b7527f1146d3f281795f89
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_scalar_train.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..593a18404597ac20a2b7527f1146d3f281795f89
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_scalar_train.json
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+  "stability": 0.9950326085090637
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_train.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..de8685f4005be5a321076455cd78dd4b4615691a
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_s3_session_metrics_train.json
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diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_trial_metrics.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_trial_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d94483545b8f323f3b1393c108a7e2fefa92440
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_trial_metrics.json
@@ -0,0 +1,4667 @@
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\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_trial_metrics_scalar.json b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_trial_metrics_scalar.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a1e4d5ad815e3dd1f3ebd973c065b5e75c89e9
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/info/crossq_reacher_t0_trial_metrics_scalar.json
@@ -0,0 +1,11 @@
+{
+  "frame": 2000000.0,
+  "total_reward_ma": -5.661336898803711,
+  "strength": 35.74449920654297,
+  "max_strength": 38.01634979248047,
+  "final_strength": 37.58491516113281,
+  "sample_efficiency": 1.8415354361422942e-06,
+  "training_efficiency": 3.070398815907538e-05,
+  "stability": 0.9954847097396851,
+  "consistency": 0.9797080159187317
+}
\ No newline at end of file
diff --git a/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0.log b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0.log
new file mode 100644
index 0000000000000000000000000000000000000000..9acb885f69ce5ca7c9f01d80b253a26856a7dced
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0.log
@@ -0,0 +1,5 @@
+2026-02-21 14:49:02 | INFO | PID:1212 | slm_lab.lib.logger:info | trial_metrics: frame:2.00e+06 | total_reward_ma:-5.66 | strength:35.74 | max_strength:38.02 | final_strength:37.58 | sample_efficiency:1.842e-06 | training_efficiency:3.07e-05 | stability:0.9955 | consistency:0.9797
+2026-02-21 14:49:02 | INFO | PID:1212 | slm_lab.lib.logger:info | Trial 0 done
+2026-02-21 14:49:02 | INFO | PID:1212 | slm_lab.cli.main:run_spec | Output: data/crossq_reacher_2026_02_21_134606
+2026-02-21 14:49:02 | INFO | PID:1212 | slm_lab.lib.hf:cleanup_models | Cleanup saved 13.1 MB
+2026-02-21 14:49:02 | INFO | PID:1212 | slm_lab.lib.hf:upload | Uploading data/crossq_reacher_2026_02_21_134606 to SLM-Lab/benchmark-dev/data/crossq_reacher_2026_02_21_134606...
diff --git a/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s0.log b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s0.log
new file mode 100644
index 0000000000000000000000000000000000000000..1505782d9ed63c8169c9a0c4c0dffb06c6d91a2b
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s0.log
@@ -0,0 +1,945 @@
+2026-02-21 13:47:13 | INFO | PID:1373 | slm_lab.lib.perf:log_perf_setup | Performance setup:
+Platform: GPU NVIDIA RTX A5000 (compute 8.6)
+• GPU cuDNN benchmark: enabled
+• GPU memory management: enabled
+• GPU TF32 acceleration: enabled
+2026-02-21 13:47:13 | INFO | PID:1373 | slm_lab.lib.logger:info | CrossQ:
+algorithm_spec:
+  name: CrossQ
+  action_pdtype: default
+  action_policy: default
+  gamma: 0.99
+  training_frequency: 1
+  training_iter: 1
+  training_start_step: 5000
+  policy_delay: 3
+  log_alpha_max: 0.5
+name: CrossQ
+memory_spec:
+  name: Replay
+  batch_size: 256
+  max_size: 1000000
+  use_cer: false
+action_pdtype: default
+training_iter: 1
+training_start_step: 5000
+policy_delay: 3
+entropy_penalty_coef: 0.0
+symlog: False
+log_alpha_min: -5.0
+log_alpha_max: 0.5
+gamma: 0.99
+training_frequency: 1
+to_train: 0
+_train_step: 0
+_is_per: False
+shared: False
+net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=10, out_features=256, bias=True)
+      (1): ReLU()
+      (2): Linear(in_features=256, out_features=256, bias=True)
+      (3): ReLU()
+    )
+  )
+  (tails): ModuleList(
+    (0-1): 2 x Sequential(
+      (0): Linear(in_features=256, out_features=2, bias=True)
+    )
+  )
+  (loss_fn): MSELoss()
+)
+optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+q1_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=12, out_features=256, bias=True)
+      (1): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (2): ReLU()
+      (3): Linear(in_features=256, out_features=256, bias=True)
+      (4): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (5): ReLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=256, out_features=1, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+q1_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+q2_net: (device:cuda:0) TorchArcNet(
+  (body): GraphModule(
+    (body): Sequential(
+      (0): Linear(in_features=12, out_features=256, bias=True)
+      (1): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (2): ReLU()
+      (3): Linear(in_features=256, out_features=256, bias=True)
+      (4): BatchRenorm1d(256, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (5): ReLU()
+    )
+  )
+  (tails): Sequential(
+    (0): Linear(in_features=256, out_features=1, bias=True)
+  )
+  (loss_fn): MSELoss()
+)
+q2_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+net_names: ['net', 'q1_net', 'q2_net']
+target_entropy: -2
+log_alpha: tensor([0.], device='cuda:0', requires_grad=True)
+alpha: tensor([1.], device='cuda:0')
+alpha_optim: Adam (
+Parameter Group 0
+    amsgrad: False
+    betas: [0.5, 0.999]
+    capturable: False
+    decoupled_weight_decay: False
+    differentiable: False
+    eps: 1e-08
+    foreach: None
+    fused: None
+    lr: 0.001
+    maximize: False
+    weight_decay: 0
+)
+2026-02-21 13:47:23 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-42.85     total_reward_ma:-42.85  loss:0.7077             fps:625
+frame:1.00e+04          wall_t:16               t:625                   epi:nan
+opt_step:313            lr:0.001                alpha:0.9023
+2026-02-21 13:47:42 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-34.08     total_reward_ma:-38.47  loss:0.4811             fps:588.2
+frame:2.00e+04          wall_t:34               t:1250                  epi:nan
+opt_step:938            lr:0.001                alpha:0.7481
+2026-02-21 13:47:58 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-32.17     total_reward_ma:-36.37  loss:-2.926             fps:600
+frame:3.00e+04          wall_t:50               t:1875                  epi:nan
+opt_step:1563           lr:0.001                alpha:0.6296
+2026-02-21 13:48:17 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-29.18     total_reward_ma:-34.57  loss:0.4409             fps:579.7
+frame:4.00e+04          wall_t:69               t:2500                  epi:nan
+opt_step:2188           lr:0.001                alpha:0.5381
+2026-02-21 13:48:36 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-27.79     total_reward_ma:-33.21  loss:0.677              fps:568.2
+frame:5.00e+04          wall_t:88               t:3125                  epi:nan
+opt_step:2813           lr:0.001                alpha:0.4656
+2026-02-21 13:48:55 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-25.70     total_reward_ma:-31.96  loss:47.5               fps:560.7
+frame:6.00e+04          wall_t:107              t:3750                  epi:nan
+opt_step:3438           lr:0.001                alpha:0.4065
+2026-02-21 13:49:14 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-23.13     total_reward_ma:-30.70  loss:0.5302             fps:555.6
+frame:7.00e+04          wall_t:126              t:4375                  epi:nan
+opt_step:4063           lr:0.001                alpha:0.3579
+2026-02-21 13:49:31 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-20.90     total_reward_ma:-29.47  loss:0.2008             fps:559.4
+frame:8.00e+04          wall_t:143              t:5000                  epi:nan
+opt_step:4688           lr:0.001                alpha:0.3181
+2026-02-21 13:49:49 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-18.77     total_reward_ma:-28.28  loss:29.35              fps:555.6
+frame:9.00e+04          wall_t:162              t:5625                  epi:nan
+opt_step:5313           lr:0.001                alpha:0.2845
+2026-02-21 13:50:08 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-19.05     total_reward_ma:-27.36  loss:0.2186             fps:555.6
+frame:1.00e+05          wall_t:180              t:6250                  epi:nan
+opt_step:5938           lr:0.001                alpha:0.2556
+2026-02-21 13:50:24 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-16.05     total_reward_ma:-26.33  loss:0.3013             fps:558.4
+frame:1.10e+05          wall_t:197              t:6875                  epi:nan
+opt_step:6563           lr:0.001                alpha:0.2314
+2026-02-21 13:50:43 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-15.87     total_reward_ma:-25.46  loss:30.89              fps:555.6
+frame:1.20e+05          wall_t:216              t:7500                  epi:nan
+opt_step:7188           lr:0.001                alpha:0.2103
+2026-02-21 13:51:02 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-14.64     total_reward_ma:-24.63  loss:0.3827             fps:553.2
+frame:1.30e+05          wall_t:235              t:8125                  epi:nan
+opt_step:7813           lr:0.001                alpha:0.1918
+2026-02-21 13:51:20 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-13.68     total_reward_ma:-23.85  loss:0.5209             fps:555.6
+frame:1.40e+05          wall_t:252              t:8750                  epi:nan
+opt_step:8438           lr:0.001                alpha:0.1755
+2026-02-21 13:51:37 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-12.79     total_reward_ma:-23.11  loss:30.58              fps:555.6
+frame:1.50e+05          wall_t:270              t:9375                  epi:nan
+opt_step:9063           lr:0.001                alpha:0.161
+2026-02-21 13:51:57 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-13.15     total_reward_ma:-22.49  loss:0.3387             fps:553.6
+frame:1.60e+05          wall_t:289              t:10000                 epi:nan
+opt_step:9688           lr:0.001                alpha:0.148
+2026-02-21 13:52:14 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-11.63     total_reward_ma:-21.85  loss:0.1925             fps:555.6
+frame:1.70e+05          wall_t:306              t:10625                 epi:nan
+opt_step:10313          lr:0.001                alpha:0.1368
+2026-02-21 13:52:32 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-11.08     total_reward_ma:-21.25  loss:28.29              fps:555.6
+frame:1.80e+05          wall_t:324              t:11250                 epi:nan
+opt_step:10938          lr:0.001                alpha:0.1266
+2026-02-21 13:52:51 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-10.60     total_reward_ma:-20.69  loss:0.1003             fps:553.9
+frame:1.90e+05          wall_t:343              t:11875                 epi:nan
+opt_step:11563          lr:0.001                alpha:0.1173
+2026-02-21 13:53:08 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-10.02     total_reward_ma:-20.16  loss:0.1472             fps:554
+frame:2.00e+05          wall_t:361              t:12500                 epi:nan
+opt_step:12188          lr:0.001                alpha:0.109
+2026-02-21 13:53:26 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-9.90      total_reward_ma:-19.67  loss:29.64              fps:555.6
+frame:2.10e+05          wall_t:378              t:13125                 epi:nan
+opt_step:12813          lr:0.001                alpha:0.1013
+2026-02-21 13:53:44 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-9.45      total_reward_ma:-19.20  loss:0.1553             fps:555.6
+frame:2.20e+05          wall_t:396              t:13750                 epi:nan
+opt_step:13438          lr:0.001                alpha:0.0943
+2026-02-21 13:54:01 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-11.56     total_reward_ma:-18.87  loss:0.5945             fps:555.6
+frame:2.30e+05          wall_t:414              t:14375                 epi:nan
+opt_step:14063          lr:0.001                alpha:0.0877
+2026-02-21 13:54:18 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-9.31      total_reward_ma:-18.47  loss:26.5               fps:558.1
+frame:2.40e+05          wall_t:430              t:15000                 epi:nan
+opt_step:14688          lr:0.001                alpha:0.08212
+2026-02-21 13:54:37 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.32      total_reward_ma:-18.07  loss:0.1212             fps:556.8
+frame:2.50e+05          wall_t:449              t:15625                 epi:nan
+opt_step:15313          lr:0.001                alpha:0.07702
+2026-02-21 13:54:55 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.03      total_reward_ma:-17.68  loss:0.113              fps:556.7
+frame:2.60e+05          wall_t:467              t:16250                 epi:nan
+opt_step:15938          lr:0.001                alpha:0.07224
+2026-02-21 13:55:10 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.18      total_reward_ma:-17.33  loss:24.77              fps:560.2
+frame:2.70e+05          wall_t:482              t:16875                 epi:nan
+opt_step:16563          lr:0.001                alpha:0.06781
+2026-02-21 13:55:28 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-8.14      total_reward_ma:-17.00  loss:0.06164            fps:560
+frame:2.80e+05          wall_t:500              t:17500                 epi:nan
+opt_step:17188          lr:0.001                alpha:0.06367
+2026-02-21 13:55:47 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:2.90e+05          wall_t:519              t:18125                 epi:nan
+opt_step:17813          lr:0.001                alpha:0.05985
+2026-02-21 13:56:04 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:3.00e+05          wall_t:537              t:18750                 epi:nan
+opt_step:18438          lr:0.001                alpha:0.05628
+2026-02-21 13:56:22 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:3.10e+05          wall_t:555              t:19375                 epi:nan
+opt_step:19063          lr:0.001                alpha:0.05272
+2026-02-21 13:56:41 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.92      total_reward_ma:-15.92  loss:0.3739             fps:558.5
+frame:3.20e+05          wall_t:573              t:20000                 epi:nan
+opt_step:19688          lr:0.001                alpha:0.0497
+2026-02-21 13:56:59 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.77      total_reward_ma:-15.67  loss:22.8               fps:558.4
+frame:3.30e+05          wall_t:591              t:20625                 epi:nan
+opt_step:20313          lr:0.001                alpha:0.04725
+2026-02-21 13:57:17 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.30      total_reward_ma:-15.43  loss:0.1882             fps:557.4
+frame:3.40e+05          wall_t:610              t:21250                 epi:nan
+opt_step:20938          lr:0.001                alpha:0.0449
+2026-02-21 13:57:34 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
+total_reward:-7.27      total_reward_ma:-15.19  loss:0.3768             fps:559.1
+frame:3.50e+05          wall_t:626              t:21875                 epi:nan
+opt_step:21563          lr:0.001                alpha:0.04263
+2026-02-21 13:57:54 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:3.60e+05          wall_t:646              t:22500                 epi:nan
+opt_step:22188          lr:0.001                alpha:0.04046
+2026-02-21 13:58:12 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:3.70e+05          wall_t:664              t:23125                 epi:nan
+opt_step:22813          lr:0.001                alpha:0.03838
+2026-02-21 13:58:30 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:3.90e+05          wall_t:700              t:24375                 epi:nan
+opt_step:24063          lr:0.001                alpha:0.03455
+2026-02-21 13:59:05 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:4.00e+05          wall_t:718              t:25000                 epi:nan
+opt_step:24688          lr:0.001                alpha:0.03291
+2026-02-21 13:59:22 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:4.10e+05          wall_t:734              t:25625                 epi:nan
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+frame:4.20e+05          wall_t:752              t:26250                 epi:nan
+opt_step:25938          lr:0.001                alpha:0.02998
+2026-02-21 14:00:00 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+frame:4.30e+05          wall_t:772              t:26875                 epi:nan
+opt_step:26563          lr:0.001                alpha:0.0287
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+frame:4.40e+05          wall_t:789              t:27500                 epi:nan
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+frame:4.50e+05          wall_t:807              t:28125                 epi:nan
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+frame:5.20e+05          wall_t:933              t:32500                 epi:nan
+opt_step:32188          lr:0.001                alpha:0.02165
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+frame:5.30e+05          wall_t:952              t:33125                 epi:nan
+opt_step:32813          lr:0.001                alpha:0.0212
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+frame:5.40e+05          wall_t:970              t:33750                 epi:nan
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+frame:5.50e+05          wall_t:988              t:34375                 epi:nan
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+2026-02-21 14:04:13 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-21 14:04:30 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-21 14:04:48 | INFO | PID:1373 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_reacher_t0_s0 [train]
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+2026-02-21 14:48:57 | INFO | PID:1373 | slm_lab.lib.logger:info | Session 0 done
diff --git a/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s1.log b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s1.log
new file mode 100644
index 0000000000000000000000000000000000000000..0df7d70be52a9fd4b767258e2312fedca32362d1
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s1.log
@@ -0,0 +1,801 @@
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+2026-02-21 14:47:31 | INFO | PID:1374 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-21 14:47:48 | INFO | PID:1374 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-21 14:48:06 | INFO | PID:1374 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_reacher_t0_s1 [train]
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+2026-02-21 14:48:09 | INFO | PID:1374 | slm_lab.lib.logger:info | Session 1 done
diff --git a/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s2.log b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s2.log
new file mode 100644
index 0000000000000000000000000000000000000000..ecbcbd76f29b1cfab83f54b7532e3500363c4c2d
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s2.log
@@ -0,0 +1,801 @@
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+2026-02-21 13:48:16 | INFO | PID:1375 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-21 14:46:30 | INFO | PID:1375 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_reacher_t0_s2 [train]
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+2026-02-21 14:46:34 | INFO | PID:1375 | slm_lab.lib.logger:info | Session 2 done
diff --git a/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s3.log b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s3.log
new file mode 100644
index 0000000000000000000000000000000000000000..db410b527fad08c59b1d825a969211f4f55a049c
--- /dev/null
+++ b/data/crossq_reacher_2026_02_21_134606/log/crossq_reacher_t0_s3.log
@@ -0,0 +1,801 @@
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