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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_df_train.csv b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..718e1600d02835f7e4085087f4938fafd18087cb
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_df_train.csv
@@ -0,0 +1,351 @@
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_eval.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c5748dec6229b68a61759b8b795f52c74ab3df
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_eval.json
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_scalar_eval.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dd5a964a7b50afc200d38fd307ee27bf54b467e
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_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_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_scalar_train.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dd5a964a7b50afc200d38fd307ee27bf54b467e
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
+{
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+  "training_efficiency": 7.19204490451375e-06,
+  "stability": 0.9715152978897095
+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_train.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c5748dec6229b68a61759b8b795f52c74ab3df
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s0_session_metrics_train.json
@@ -0,0 +1,2476 @@
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_df_eval.csv b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..157386e08e9988b0fabafdc56ea2b1197306df53
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_df_eval.csv
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_df_train.csv b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..157386e08e9988b0fabafdc56ea2b1197306df53
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_df_train.csv
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_eval.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5db883931f0d3798ec47e14581ba2e3b42ef11
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_eval.json
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_scalar_eval.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..5400553ffaaf0b9a6229a77ce57e81b0766dacda
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_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_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_scalar_train.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..5400553ffaaf0b9a6229a77ce57e81b0766dacda
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
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+  "stability": 0.970818042755127
+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_train.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5db883931f0d3798ec47e14581ba2e3b42ef11
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s1_session_metrics_train.json
@@ -0,0 +1,2476 @@
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_df_eval.csv b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..832058f42b4efd72b81e3dfed20a46e39074a0ad
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_df_eval.csv
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_df_train.csv b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..832058f42b4efd72b81e3dfed20a46e39074a0ad
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_df_train.csv
@@ -0,0 +1,351 @@
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_eval.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf5a28c4a929eb56b63dd3e8994e9bd9cc59e27c
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_eval.json
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_scalar_eval.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2499cd013421a40177d2a529ed3d5cc8023997c
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_scalar_eval.json
@@ -0,0 +1,9 @@
+{
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+  "training_efficiency": 6.425777883123374e-06,
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+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_scalar_train.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2499cd013421a40177d2a529ed3d5cc8023997c
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
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+  "training_efficiency": 6.425777883123374e-06,
+  "stability": 0.9707260131835938
+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_train.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf5a28c4a929eb56b63dd3e8994e9bd9cc59e27c
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s2_session_metrics_train.json
@@ -0,0 +1,2476 @@
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_df_eval.csv b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_df_eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c55e0a9bd469b46485593814f2d17fdbf198c20
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_df_eval.csv
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_df_train.csv b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_df_train.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c55e0a9bd469b46485593814f2d17fdbf198c20
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_df_train.csv
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_eval.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..faccc2cf7200c5177f255b84bc4f46dad285ef04
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_eval.json
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_scalar_eval.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_scalar_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec77bb95eab02f2e6f94daeb76374e958f904299
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_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_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_scalar_train.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_scalar_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec77bb95eab02f2e6f94daeb76374e958f904299
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_scalar_train.json
@@ -0,0 +1,9 @@
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+  "stability": 0.9785427451133728
+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_train.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_train.json
new file mode 100644
index 0000000000000000000000000000000000000000..faccc2cf7200c5177f255b84bc4f46dad285ef04
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_s3_session_metrics_train.json
@@ -0,0 +1,2476 @@
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diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_trial_metrics.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_trial_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..95ec8986067dcbec024648aed827ba3e5a7a38da
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_trial_metrics.json
@@ -0,0 +1,8117 @@
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+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_trial_metrics_scalar.json b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_trial_metrics_scalar.json
new file mode 100644
index 0000000000000000000000000000000000000000..08b774c5d3e88a9cac23a7cff8af382d8a5c465f
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/info/crossq_humanoid_ln_i2_t0_trial_metrics_scalar.json
@@ -0,0 +1,11 @@
+{
+  "frame": 3500000.0,
+  "total_reward_ma": 1850.4432373046875,
+  "strength": 1012.185302734375,
+  "max_strength": 2405.9306640625,
+  "final_strength": 1643.5135498046875,
+  "sample_efficiency": 7.623238502674212e-07,
+  "training_efficiency": 6.6298453020863235e-06,
+  "stability": 0.9729005098342896,
+  "consistency": 0.11443507671356201
+}
\ No newline at end of file
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0.log b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0.log
new file mode 100644
index 0000000000000000000000000000000000000000..3b1054ee993fc4b0412c31e0dcf6312b0cc5c449
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0.log
@@ -0,0 +1,5 @@
+2026-02-22 04:41:03 | INFO | PID:1208 | slm_lab.lib.logger:info | trial_metrics: frame:3.50e+06 | total_reward_ma:1850.44 | strength:1012 | max_strength:2406 | final_strength:1644 | sample_efficiency:7.623e-07 | training_efficiency:6.63e-06 | stability:0.9729 | consistency:0.1144
+2026-02-22 04:41:03 | INFO | PID:1208 | slm_lab.lib.logger:info | Trial 0 done
+2026-02-22 04:41:03 | INFO | PID:1208 | slm_lab.cli.main:run_spec | Output: data/crossq_humanoid_ln_i2_2026_02_22_014755
+2026-02-22 04:41:03 | INFO | PID:1208 | slm_lab.lib.hf:cleanup_models | Cleanup saved 184.8 MB
+2026-02-22 04:41:03 | INFO | PID:1208 | slm_lab.lib.hf:upload | Uploading data/crossq_humanoid_ln_i2_2026_02_22_014755 to SLM-Lab/benchmark-dev/data/crossq_humanoid_ln_i2_2026_02_22_014755...
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s0.log b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s0.log
new file mode 100644
index 0000000000000000000000000000000000000000..2f955ee6b617fc328ab3a5cb586354e393d9d69f
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s0.log
@@ -0,0 +1,1548 @@
+2026-02-22 01:48:23 | INFO | PID:1326 | slm_lab.env:_make_vector_env | Action rescaling: [-0.4, 0.4] → [-1, 1]
+2026-02-22 01:48:27 | INFO | PID:1326 | slm_lab.lib.perf:log_perf_setup | Performance setup:
+Platform: GPU NVIDIA RTX A4500 (compute 8.6)
+• GPU cuDNN benchmark: enabled
+• GPU memory management: enabled
+• GPU TF32 acceleration: enabled
+2026-02-22 01:48:28 | INFO | PID:1326 | slm_lab.lib.logger:info | CrossQ:
+algorithm_spec:
+  name: CrossQ
+  action_pdtype: default
+  action_policy: default
+  gamma: 0.99
+  training_frequency: 1
+  training_iter: 2
+  training_start_step: 10000
+  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: 2
+training_start_step: 10000
+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=348, out_features=256, bias=True)
+      (1): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
+      (2): ReLU()
+      (3): Linear(in_features=256, out_features=256, bias=True)
+      (4): LayerNorm((256,), eps=1e-05, elementwise_affine=True)
+      (5): ReLU()
+    )
+  )
+  (tails): ModuleList(
+    (0-1): 2 x Sequential(
+      (0): Linear(in_features=256, out_features=17, 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=365, out_features=1024, bias=True)
+      (1): BatchRenorm1d(1024, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (2): ReLU()
+      (3): Linear(in_features=1024, out_features=1024, bias=True)
+      (4): BatchRenorm1d(1024, 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=1024, 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=365, out_features=1024, bias=True)
+      (1): BatchRenorm1d(1024, eps=0.001, momentum=0.01, r_max=3.0, d_max=5.0, warmup_steps=100000)
+      (2): ReLU()
+      (3): Linear(in_features=1024, out_features=1024, bias=True)
+      (4): BatchRenorm1d(1024, 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=1024, 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: -17
+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
+)
+2026-02-22 01:48:34 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:110.24     total_reward_ma:110.24  loss:nan                fps:1000
+frame:1.00e+04          wall_t:10               t:625                   epi:nan
+opt_step:0              lr:0.001                alpha:1
+2026-02-22 01:49:02 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:248.92     total_reward_ma:179.58  loss:7627               fps:512.8
+frame:2.00e+04          wall_t:39               t:1250                  epi:nan
+opt_step:1250           lr:0.001                alpha:0.6944
+2026-02-22 01:49:31 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:313.64     total_reward_ma:224.27  loss:3767               fps:447.8
+frame:3.00e+04          wall_t:67               t:1875                  epi:nan
+opt_step:2500           lr:0.001                alpha:0.519
+2026-02-22 01:50:00 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:325.35     total_reward_ma:249.54  loss:1685               fps:412.4
+frame:4.00e+04          wall_t:97               t:2500                  epi:nan
+opt_step:3750           lr:0.001                alpha:0.397
+2026-02-22 01:50:29 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:349.57     total_reward_ma:269.55  loss:1047               fps:400
+frame:5.00e+04          wall_t:125              t:3125                  epi:nan
+opt_step:5000           lr:0.001                alpha:0.309
+2026-02-22 01:50:58 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:326.15     total_reward_ma:278.98  loss:1126               fps:389.6
+frame:6.00e+04          wall_t:154              t:3750                  epi:nan
+opt_step:6250           lr:0.001                alpha:0.245
+2026-02-22 01:51:27 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:388.64     total_reward_ma:294.65  loss:809.4              fps:382.5
+frame:7.00e+04          wall_t:183              t:4375                  epi:nan
+opt_step:7500           lr:0.001                alpha:0.1981
+2026-02-22 01:51:56 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:336.13     total_reward_ma:299.83  loss:722.4              fps:377.4
+frame:8.00e+04          wall_t:212              t:5000                  epi:nan
+opt_step:8750           lr:0.001                alpha:0.1628
+2026-02-22 01:52:24 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:355.49     total_reward_ma:306.02  loss:730.6              fps:373.4
+frame:9.00e+04          wall_t:241              t:5625                  epi:nan
+opt_step:10000          lr:0.001                alpha:0.1354
+2026-02-22 01:52:53 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:326.99     total_reward_ma:308.11  loss:279                fps:371.7
+frame:1.00e+05          wall_t:269              t:6250                  epi:nan
+opt_step:11250          lr:0.001                alpha:0.1139
+2026-02-22 01:53:22 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:306.69     total_reward_ma:307.98  loss:614.4              fps:369.1
+frame:1.10e+05          wall_t:298              t:6875                  epi:nan
+opt_step:12500          lr:0.001                alpha:0.09639
+2026-02-22 01:53:51 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:338.94     total_reward_ma:310.56  loss:546.2              fps:367
+frame:1.20e+05          wall_t:327              t:7500                  epi:nan
+opt_step:13750          lr:0.001                alpha:0.08267
+2026-02-22 01:54:19 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:353.30     total_reward_ma:313.85  loss:189                fps:365.2
+frame:1.30e+05          wall_t:356              t:8125                  epi:nan
+opt_step:15000          lr:0.001                alpha:0.07083
+2026-02-22 01:54:48 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:361.74     total_reward_ma:317.27  loss:541.2              fps:363.6
+frame:1.40e+05          wall_t:385              t:8750                  epi:nan
+opt_step:16250          lr:0.001                alpha:0.06118
+2026-02-22 01:55:18 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:378.87     total_reward_ma:321.38  loss:348.7              fps:362.3
+frame:1.50e+05          wall_t:414              t:9375                  epi:nan
+opt_step:17500          lr:0.001                alpha:0.05299
+2026-02-22 01:55:47 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:349.92     total_reward_ma:323.16  loss:580.9              fps:361.2
+frame:1.60e+05          wall_t:443              t:10000                 epi:nan
+opt_step:18750          lr:0.001                alpha:0.04612
+2026-02-22 01:56:16 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:345.40     total_reward_ma:324.47  loss:504.3              fps:360.2
+frame:1.70e+05          wall_t:472              t:10625                 epi:nan
+opt_step:20000          lr:0.001                alpha:0.04031
+2026-02-22 01:56:45 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:375.61     total_reward_ma:327.31  loss:441.7              fps:358.6
+frame:1.80e+05          wall_t:502              t:11250                 epi:nan
+opt_step:21250          lr:0.001                alpha:0.03536
+2026-02-22 01:57:14 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:376.55     total_reward_ma:329.90  loss:465.4              fps:357.8
+frame:1.90e+05          wall_t:531              t:11875                 epi:nan
+opt_step:22500          lr:0.001                alpha:0.03124
+2026-02-22 01:57:43 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:420.64     total_reward_ma:334.44  loss:726.5              fps:357.1
+frame:2.00e+05          wall_t:560              t:12500                 epi:nan
+opt_step:23750          lr:0.001                alpha:0.02782
+2026-02-22 01:58:13 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:381.98     total_reward_ma:336.70  loss:319.8              fps:356.5
+frame:2.10e+05          wall_t:589              t:13125                 epi:nan
+opt_step:25000          lr:0.001                alpha:0.02484
+2026-02-22 01:58:42 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:402.98     total_reward_ma:339.72  loss:320                fps:356
+frame:2.20e+05          wall_t:618              t:13750                 epi:nan
+opt_step:26250          lr:0.001                alpha:0.02241
+2026-02-22 01:59:11 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:453.30     total_reward_ma:344.65  loss:301.3              fps:355.5
+frame:2.30e+05          wall_t:647              t:14375                 epi:nan
+opt_step:27500          lr:0.001                alpha:0.02041
+2026-02-22 01:59:40 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:411.89     total_reward_ma:347.46  loss:862.4              fps:355
+frame:2.40e+05          wall_t:676              t:15000                 epi:nan
+opt_step:28750          lr:0.001                alpha:0.01898
+2026-02-22 02:00:09 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:438.37     total_reward_ma:351.09  loss:258.2              fps:354.6
+frame:2.50e+05          wall_t:705              t:15625                 epi:nan
+opt_step:30000          lr:0.001                alpha:0.01781
+2026-02-22 02:00:38 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:419.67     total_reward_ma:353.73  loss:664.2              fps:353.7
+frame:2.60e+05          wall_t:735              t:16250                 epi:nan
+opt_step:31250          lr:0.001                alpha:0.01665
+2026-02-22 02:01:07 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:401.75     total_reward_ma:355.51  loss:200.4              fps:353.4
+frame:2.70e+05          wall_t:764              t:16875                 epi:nan
+opt_step:32500          lr:0.001                alpha:0.01577
+2026-02-22 02:01:37 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:394.52     total_reward_ma:356.90  loss:681.3              fps:353.1
+frame:2.80e+05          wall_t:793              t:17500                 epi:nan
+opt_step:33750          lr:0.001                alpha:0.01514
+2026-02-22 02:02:06 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:464.86     total_reward_ma:360.62  loss:820                fps:352.8
+frame:2.90e+05          wall_t:822              t:18125                 epi:nan
+opt_step:35000          lr:0.001                alpha:0.01473
+2026-02-22 02:02:35 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:457.58     total_reward_ma:363.86  loss:927.5              fps:352.5
+frame:3.00e+05          wall_t:851              t:18750                 epi:nan
+opt_step:36250          lr:0.001                alpha:0.01453
+2026-02-22 02:03:04 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:412.34     total_reward_ma:365.42  loss:501.3              fps:351.9
+frame:3.10e+05          wall_t:881              t:19375                 epi:nan
+opt_step:37500          lr:0.001                alpha:0.01442
+2026-02-22 02:03:33 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:396.09     total_reward_ma:366.38  loss:616.5              fps:351.6
+frame:3.20e+05          wall_t:910              t:20000                 epi:nan
+opt_step:38750          lr:0.001                alpha:0.01383
+2026-02-22 02:04:03 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:461.16     total_reward_ma:369.25  loss:380.5              fps:351.4
+frame:3.30e+05          wall_t:939              t:20625                 epi:nan
+opt_step:40000          lr:0.001                alpha:0.01347
+2026-02-22 02:04:32 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:428.17     total_reward_ma:370.98  loss:1009               fps:351.2
+frame:3.40e+05          wall_t:968              t:21250                 epi:nan
+opt_step:41250          lr:0.001                alpha:0.01324
+2026-02-22 02:05:01 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:431.77     total_reward_ma:372.72  loss:601.9              fps:351.1
+frame:3.50e+05          wall_t:997              t:21875                 epi:nan
+opt_step:42500          lr:0.001                alpha:0.01356
+2026-02-22 02:05:31 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:384.86     total_reward_ma:373.06  loss:790                fps:350.5
+frame:3.60e+05          wall_t:1027             t:22500                 epi:nan
+opt_step:43750          lr:0.001                alpha:0.01375
+2026-02-22 02:06:00 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:461.60     total_reward_ma:375.45  loss:318.9              fps:350.4
+frame:3.70e+05          wall_t:1056             t:23125                 epi:nan
+opt_step:45000          lr:0.001                alpha:0.01292
+2026-02-22 02:06:29 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:458.14     total_reward_ma:377.63  loss:569.5              fps:349.9
+frame:3.80e+05          wall_t:1086             t:23750                 epi:nan
+opt_step:46250          lr:0.001                alpha:0.013
+2026-02-22 02:06:59 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:463.64     total_reward_ma:379.83  loss:1038               fps:349.8
+frame:3.90e+05          wall_t:1115             t:24375                 epi:nan
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+2026-02-22 02:07:28 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:438.87     total_reward_ma:381.31  loss:328.3              fps:349.7
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+2026-02-22 02:07:57 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
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+2026-02-22 02:08:26 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
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+2026-02-22 02:08:55 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
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+2026-02-22 02:09:25 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
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+frame:4.40e+05          wall_t:1261             t:27500                 epi:nan
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+2026-02-22 02:09:54 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:429.00     total_reward_ma:391.45  loss:1033               fps:348.8
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+2026-02-22 02:10:23 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
+total_reward:505.15     total_reward_ma:393.92  loss:217.4              fps:348.5
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+2026-02-22 02:10:53 | INFO | PID:1326 | slm_lab.agent:log_summary | Trial 0 session 0 crossq_humanoid_ln_i2_t0_s0 [train]
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+2026-02-22 04:40:59 | INFO | PID:1326 | slm_lab.lib.logger:info | Session 0 done
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s1.log b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s1.log
new file mode 100644
index 0000000000000000000000000000000000000000..b85388041d88bbc2dd2a29a1791d4227ebc94e81
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s1.log
@@ -0,0 +1,1402 @@
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+2026-02-22 03:03:04 | INFO | PID:1327 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_humanoid_ln_i2_t0_s1 [train]
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+2026-02-22 04:39:24 | INFO | PID:1327 | slm_lab.agent:log_summary | Trial 0 session 1 crossq_humanoid_ln_i2_t0_s1 [train]
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+2026-02-22 04:39:27 | INFO | PID:1327 | slm_lab.lib.logger:info | Session 1 done
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s2.log b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s2.log
new file mode 100644
index 0000000000000000000000000000000000000000..44b63d7f355d5f8923efaf7d1ae3e4734cde0ca1
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s2.log
@@ -0,0 +1,1402 @@
+2026-02-22 01:48:23 | INFO | PID:1328 | slm_lab.env:_make_vector_env | Action rescaling: [-0.4, 0.4] → [-1, 1]
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+2026-02-22 03:53:55 | INFO | PID:1328 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_humanoid_ln_i2_t0_s2 [train]
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+2026-02-22 03:55:52 | INFO | PID:1328 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_humanoid_ln_i2_t0_s2 [train]
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+2026-02-22 03:56:52 | INFO | PID:1328 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_humanoid_ln_i2_t0_s2 [train]
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+2026-02-22 04:38:35 | INFO | PID:1328 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_humanoid_ln_i2_t0_s2 [train]
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+2026-02-22 04:39:04 | INFO | PID:1328 | slm_lab.agent:log_summary | Trial 0 session 2 crossq_humanoid_ln_i2_t0_s2 [train]
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+opt_step:436250          lr:0.001                 alpha:0.06263
+2026-02-22 04:39:07 | INFO | PID:1328 | slm_lab.lib.logger:info | Session 2 done
diff --git a/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s3.log b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s3.log
new file mode 100644
index 0000000000000000000000000000000000000000..7f9cd8468704256682d4a4f4d4a379d789906edb
--- /dev/null
+++ b/data/crossq_humanoid_ln_i2_2026_02_22_014755/log/crossq_humanoid_ln_i2_t0_s3.log
@@ -0,0 +1,1402 @@
+2026-02-22 01:48:23 | INFO | PID:1329 | slm_lab.env:_make_vector_env | Action rescaling: [-0.4, 0.4] → [-1, 1]
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+2026-02-22 01:57:40 | INFO | PID:1329 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_humanoid_ln_i2_t0_s3 [train]
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+2026-02-22 03:49:14 | INFO | PID:1329 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_humanoid_ln_i2_t0_s3 [train]
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+2026-02-22 03:51:12 | INFO | PID:1329 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_humanoid_ln_i2_t0_s3 [train]
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+2026-02-22 03:51:42 | INFO | PID:1329 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_humanoid_ln_i2_t0_s3 [train]
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+2026-02-22 03:53:10 | INFO | PID:1329 | slm_lab.agent:log_summary | Trial 0 session 3 crossq_humanoid_ln_i2_t0_s3 [train]
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