blanchon/MimicKit_Data · Datasets at Hugging Face

text stringlengths 0 850
300 0.6841375447644128 39452672 45.97769546508789 58.55148696899414 8136 29.22167205810547 41.937252044677734 310184 3.5965123176574707 3.6001076698303223 -0.0035957046784460545 0.04466400295495987 0.9998351335525513 0.0 0.12820841372013092 1.9130264520645142 1.0
400 0.9023767106400595 52559872 106.84422302246094 142.97003173828125 6248 37.19279098510742 53.70098114013672 241410 8.51197338104248 8.516942024230957 -0.00496926624327898 0.04703369364142418 0.9998814463615417 0.0 0.13163040578365326 2.94291090965271 1.0
500 1.1178313858641518 65667072 178.68948364257812 253.563720703125 4284 55.41175842285156 82.80520629882812 155059 24.44959259033203 24.4565486907959 -0.0069567859172821045 0.07152710109949112 0.9999311566352844 0.0 -0.6679297685623169 4.807315826416016 1.0
600 1.330726146168179 78774272 197.87261962890625 283.8133544921875 4115 81.53684997558594 125.5173568725586 101525 21.614837646484375 21.623762130737305 -0.008928214199841022 0.07283172756433487 0.9996809363365173 0.0 0.4299531579017639 4.6853251457214355 1.0
700 1.5455302047067219 91881472 77.49481964111328 107.88643646240234 8789 128.12142944335938 196.08193969726562 63919 36.623741149902344 36.63151168823242 -0.007772109005600214 0.09121246635913849 1.0002226829528809 0.0 -1.2373361587524414 6.77694034576416 1.0
800 1.753831127749549 104988672 222.0412139892578 291.95355224609375 4112 149.79673767089844 228.7474365234375 54736 11.781457901000977 11.811141014099121 -0.029682090505957603 0.07169647514820099 0.999724805355072 0.0 0.1261197328567505 3.476975917816162 1.0
900 1.9479262376493878 118095872 257.7203369140625 298.43701171875 4096 202.75082397460938 282.8310546875 43975 10.13241958618164 10.165492057800293 -0.033075228333473206 0.05465088039636612 1.0001364946365356 0.0 0.07449130713939667 3.2107930183410645 1.0
1000 2.1330714303255083 131203072 264.1808776855469 298.6871032714844 4097 215.88479614257812 287.3170471191406 43155 8.66231918334961 8.695291519165039 -0.03297140449285507 0.05346984788775444 0.9995803236961365 0.0 -0.007348828017711639 3.0402514934539795 1.0
1100 2.3112743133306504 144310272 268.4400939941406 298.4259338378906 4097 223.51158142089844 289.4073486328125 42770 6.9793524742126465 7.011203289031982 -0.03185078501701355 0.0423126220703125 1.0000410079956055 0.0 -0.008137507364153862 2.6635680198669434 1.0
1200 2.4845132106542587 157417472 271.2703552246094 297.3993225097656 4097 228.85618591308594 290.4093322753906 42563 8.586372375488281 8.624625205993652 -0.03825259953737259 0.04465789720416069 1.0001014471054077 0.0 0.007123839110136032 2.942532539367676 1.0
1300 2.6543416567643483 170524672 272.7734069824219 296.84521484375 4096 232.89805603027344 291.6158752441406 42386 5.943634033203125 5.975793361663818 -0.03215831145644188 0.04927215725183487 1.000028371810913 0.0 0.009031565859913826 2.4518070220947266 1.0
1400 2.8204082481066384 183631872 277.49462890625 299.4835205078125 4097 236.41615295410156 292.50811767578125 42210 4.943181037902832 4.975125789642334 -0.03194398805499077 0.05166473612189293 1.0003836154937744 0.0 0.011776469647884369 2.240539312362671 1.0
1500 2.982217732667923 196739072 277.75311279296875 298.669921875 4096 239.16656494140625 293.16766357421875 42107 8.011391639709473 8.05005168914795 -0.0386631153523922 0.04846344143152237 1.000049114227295 0.0 -0.04815045744180679 2.8476972579956055 1.0
1600 3.143984047174454 209846272 278.0390319824219 297.73040771484375 4102 240.87429809570312 293.3594970703125 42057 7.748264312744141 7.7854905128479 -0.0372270904481411 0.04048767313361168 1.000105619430542 0.0 -0.053974077105522156 2.8021903038024902 1.0
1700 3.3068565702438355 222953472 280.3390808105469 299.3109436035156 4097 242.7395782470703 293.74432373046875 42008 4.8965301513671875 4.9274468421936035 -0.030917227268218994 0.05058136209845543 1.0003526210784912 0.0 0.04473353177309036 2.2345526218414307 1.0
1800 3.4694438166088526 236060672 282.4566345214844 299.61273193359375 4098 244.27149963378906 294.0457458496094 41944 7.198688507080078 7.235044956207275 -0.03635519742965698 0.0417022705078125 1.0002186298370361 0.0 -0.05473881587386131 2.697681188583374 1.0
1900 3.6303516543573804 249167872 280.8148498535156 298.0092468261719 4101 245.33482360839844 294.1973571777344 41936 3.9369747638702393 3.9632720947265625 -0.026297137141227722 0.04676055908203125 0.9993820190429688 0.0 -0.002066364511847496 2.0016441345214844 1.0
2000 3.792786762714386 262275072 282.2678527832031 298.29632568359375 4100 246.74398803710938 294.5931701660156 41876 3.8870010375976562 3.917659044265747 -0.03065834753215313 0.04033050686120987 1.0000535249710083 0.0 0.030415503308176994 1.9848703145980835 1.0
2100 3.95050137049622 275382272 283.5215148925781 299.0869140625 4097 248.2617645263672 295.291748046875 41751 3.9760422706604004 4.005212306976318 -0.029170086607336998 0.05107421800494194 1.0000914335250854 0.0 -0.03992871940135956 2.012155771255493 1.0
2200 4.106245559851328 288489472 283.8492126464844 299.4940490722656 4097 248.85910034179688 295.1377868652344 41785 2.8539860248565674 2.8764634132385254 -0.022477420046925545 0.05257263407111168 1.0002192258834839 0.0 0.02419661171734333 1.7205556631088257 1.0
2300 4.259930335614416 301596672 284.6956787109375 299.5852355957031 4096 249.86453247070312 295.5555419921875 41712 3.4533886909484863 3.4793527126312256 -0.025963738560676575 0.04206237941980362 0.9999890327453613 6.180746137118831e-09 0.005731739103794098 1.8768370151519775 1.0
2400 4.4110491424136695 314703872 285.146240234375 299.42724609375 4096 250.74388122558594 295.684814453125 41696 2.506335496902466 2.5332813262939453 -0.02694610320031643 0.05350647121667862 1.0000230073928833 1.0583931242535982e-07 0.002819073386490345 1.6091725826263428 1.0
2500 4.561053422358301 327811072 285.87896728515625 299.77685546875 4096 251.8474578857422 296.0636901855469 41633 5.010608673095703 5.04325008392334 -0.032641325145959854 0.04087982326745987 1.0003410577774048 5.276239676277328e-07 -0.02650967240333557 2.2564537525177 1.0
2600 4.70885449508826 340918272 286.4322509765625 299.87091064453125 4097 252.4371795654297 296.1680603027344 41599 3.7842094898223877 3.81372332572937 -0.029513729736208916 0.04295196756720543 1.0002853870391846 8.535772622053628e-07 -0.007339641451835632 1.9767687320709229 1.0
2700 4.8578623243172965 354025472 287.2787780761719 300.0 4096 253.03311157226562 296.17340087890625 41616 3.081990957260132 3.1061792373657227 -0.024188442155718803 0.04128265380859375 1.0000704526901245 2.9901032121415483e-06 0.004630055278539658 1.7701925039291382 1.0
2800 5.005376532011562 367132672 287.2805480957031 299.768798828125 4096 253.46429443359375 296.132080078125 41611 2.7554121017456055 2.7824833393096924 -0.027071187272667885 0.03485107421875 1.0004757642745972 1.2572718333103694e-06 0.014088173396885395 1.6808280944824219 1.0
2900 5.154052255021202 380239872 288.077880859375 300.0 4096 254.01573181152344 296.3523864746094 41588 2.014885663986206 2.0374693870544434 -0.02258383482694626 0.03988800197839737 1.0002999305725098 2.9941791126475437e-06 -0.002527538686990738 1.4373935461044312 1.0
3000 5.30152285112275 393347072 287.9549865722656 299.9306945800781 4096 254.43707275390625 296.184814453125 41595 3.755399703979492 3.784907102584839 -0.029507413506507874 0.04610290750861168 1.0000041723251343 4.249038738635136e-06 -0.04069092124700546 1.9692193269729614 1.0
3100 5.445491667787234 406454272 288.3367919921875 299.9309387207031 4096 255.18768310546875 296.6951599121094 41515 1.7611960172653198 1.7818125486373901 -0.020616142079234123 0.05607757717370987 1.0000779628753662 3.926299086742802e-06 0.005378334317356348 1.3518121242523193 1.0
3200 5.592305310898357 419561472 288.46771240234375 300.0 4096 255.52613830566406 296.6970520019531 41522 1.591511845588684 1.6099499464035034 -0.01843808777630329 0.04969482496380806 1.0001823902130127 4.9968448365689255e-06 0.00552980974316597 1.272504448890686 1.0
3300 5.73656424999237 432668672 288.7100830078125 300.0 4096 256.1578063964844 296.9136047363281 41481 2.799917697906494 2.825211524963379 -0.02529444731771946 0.04185333475470543 1.0005756616592407 4.474830802791985e-06 -0.010374471545219421 1.6864839792251587 1.0
3400 5.8801159575912685 445775872 288.9242858886719 299.9309387207031 4096 256.36895751953125 296.8573303222656 41484 2.1066126823425293 2.126126527786255 -0.019514260813593864 0.037841796875 1.0001181364059448 4.337548944022274e-06 0.01022958755493164 1.4664206504821777 1.0
3500 6.02598216076692 458883072 289.08355712890625 299.9385070800781 4096 256.8216857910156 296.961181640625 41472 3.172740936279297 3.1984167098999023 -0.025676006451249123 0.03765869140625 1.0000773668289185 3.7260651879478246e-06 -0.001793133094906807 1.7914694547653198 1.0
3600 6.166821442842483 471990272 289.3002014160156 299.9309387207031 4096 257.3298645019531 297.22747802734375 41426 3.3270766735076904 3.355482578277588 -0.028405768796801567 0.04287567362189293 1.0001747608184814 4.787861598742893e-06 -0.05345971882343292 1.8363453149795532 1.0
3700 6.307802292638355 485097472 289.748779296875 300.0 4096 257.86151123046875 297.53887939453125 41383 0.696075975894928 0.706209659576416 -0.010133697651326656 0.05001220852136612 1.0002206563949585 5.499898634298006e-06 0.044660963118076324 0.848052978515625 1.0
3800 6.448884352644285 498204672 289.7659912109375 300.0 4096 258.02227783203125 297.37774658203125 41404 3.3619790077209473 3.389108419418335 -0.027129296213388443 0.04198303446173668 1.0001246929168701 3.7042698295408627e-06 -0.02660517953336239 1.8465968370437622 1.0
3900 6.588188451793458 511311872 289.8445739746094 300.0 4096 258.4045715332031 297.47979736328125 41386 0.642966628074646 0.6495970487594604 -0.006630317773669958 0.05677948147058487 0.9995511174201965 6.578752163477475e-06 0.02808937430381775 0.8127865195274353 1.0
4000 6.726378401915232 524419072 289.9884033203125 300.0 4096 258.8446960449219 297.63104248046875 41376 3.682492971420288 3.7075142860412598 -0.025022177025675774 0.0439605712890625 0.9998664855957031 8.492651431879494e-06 -0.028409186750650406 1.938138484954834 1.0
4100 6.865647234121958 537526272 290.2672119140625 300.0 4096 259.1432800292969 297.7559509277344 41357 2.4459166526794434 2.466510057449341 -0.020593341439962387 0.04084014892578125 1.0001024007797241 5.080224127596011e-06 -0.011953378096222878 1.5734432935714722 1.0
4200 7.005868871278233 550633472 290.2807922363281 300.0 4096 259.176513671875 297.5109558105469 41387 4.137275218963623 4.167508602142334 -0.030234158039093018 0.04006500169634819 1.000249981880188 7.65346885600593e-06 -0.046141788363456726 2.043006658554077 1.0
4300 7.145364085502095 563740672 290.63397216796875 300.0 4096 259.479248046875 297.5946960449219 41376 3.163763999938965 3.1887052059173584 -0.024941442534327507 0.04553833231329918 0.9998717308044434 4.9195264182344545e-06 -0.02863049879670143 1.8054074048995972 1.0
4400 7.2819495403104355 576847872 290.61810302734375 300.0 4096 259.97833251953125 297.94317626953125 41317 2.9723498821258545 2.9980435371398926 -0.025693759322166443 0.04538268968462944 1.0005426406860352 4.761326181323966e-06 -0.03229881078004837 1.7382824420928955 1.0
4500 7.42071021536986 589955072 290.5549621582031 299.9382629394531 4096 259.9028625488281 297.76416015625 41357 1.9538376331329346 1.9778677225112915 -0.024030115455389023 0.0409698486328125 0.9999200105667114 4.667597750085406e-06 0.002664700150489807 1.4161818027496338 1.0
4600 7.559364299641715 603062272 290.735595703125 300.0 4096 260.1875915527344 297.8393249511719 41336 1.9054195880889893 1.9264566898345947 -0.02103760652244091 0.03946380689740181 1.0002020597457886 5.491119281941792e-06 -0.011623173952102661 1.3965487480163574 1.0
4700 7.695803228815397 616169472 291.050537109375 300.0 4096 260.4811706542969 297.86083984375 41332 1.401962161064148 1.4209274053573608 -0.01896517351269722 0.04799194261431694 0.9996212124824524 6.50837273497018e-06 0.01019834354519844 1.2005034685134888 1.0
4800 7.831104719969962 629276672 291.0531311035156 300.0 4096 260.8967590332031 298.1639709472656 41289 2.284205436706543 2.305635929107666 -0.021430453285574913 0.03845367580652237 0.999745786190033 5.007582785765408e-06 0.01622425578534603 1.5223805904388428 1.0
4900 7.967532527844111 642383872 291.4291076660156 300.0 4096 261.09228515625 298.213623046875 41286 1.8574472665786743 1.879534125328064 -0.0220867320895195 0.04373321682214737 1.000396966934204 2.059900543827098e-05 -0.0026259771548211575 1.378141164779663 1.0
5000 8.104323914117284 655491072 291.4174499511719 300.0 4096 260.99310302734375 297.9155578613281 41314 0.8911637663841248 0.9093471765518188 -0.01818343624472618 0.05381317064166069 0.9998849034309387 6.860016128484858e-06 0.0012053390964865685 0.9634590148925781 1.0
5100 8.239648281137148 668598272 291.32562255859375 300.0 4096 261.3821716308594 298.1588439941406 41283 2.081143856048584 2.101200580596924 -0.020057115703821182 0.04161529615521431 0.99986332654953 7.407339126075385e-06 -0.01021777093410492 1.4601324796676636 1.0
5200 8.373997529943784 681705472 291.43389892578125 300.0 4096 261.49774169921875 298.1642761230469 41286 2.246889591217041 2.270578145980835 -0.023688431829214096 0.04612274095416069 1.0002301931381226 5.8847758737101685e-06 -0.02113591879606247 1.523840069770813 1.0
5300 8.510284465617604 694812672 291.50048828125 300.0 4096 261.66448974609375 298.20892333984375 41285 1.0668748617172241 1.082558035850525 -0.015682892873883247 0.05399170145392418 0.999925434589386 6.424717412301106e-06 0.01107665617018938 1.0493857860565186 1.0
5400 8.643388453854454 707919872 291.4917297363281 300.0 4096 261.9712829589844 298.4211730957031 41239 1.0997670888900757 1.1175036430358887 -0.017736369743943214 0.05090789869427681 1.0005923509597778 4.864532456849702e-06 0.018845096230506897 1.0600249767303467 1.0
5500 8.777131089170775 721027072 291.55548095703125 300.0 4096 262.0640563964844 298.445068359375 41229 2.015329360961914 2.03706431388855 -0.021735049784183502 0.04201202467083931 0.9997649192810059 5.990129920974141e-06 -0.01329814177006483 1.4319106340408325 1.0
5600 8.913366629216407 734134272 291.5765075683594 300.0 4096 261.916259765625 298.0985412597656 41309 2.4038712978363037 2.4265332221984863 -0.022661685943603516 0.04900207743048668 1.000266432762146 7.650901352462824e-06 -0.027421394363045692 1.5587607622146606 1.0
5700 9.045857353342903 747241472 291.85406494140625 300.0 4096 262.4783935546875 298.5465393066406 41219 2.4167535305023193 2.440687894821167 -0.023933321237564087 0.05488128587603569 1.0006788969039917 6.0049874264223035e-06 -0.016463693231344223 1.5661680698394775 1.0
5800 9.17870940234926 760348672 291.952880859375 300.0 4096 262.65277099609375 298.5517883300781 41212 2.8733482360839844 2.8987109661102295 -0.025362346321344376 0.03836517408490181 1.0003782510757446 5.050033450970659e-06 -0.032663650810718536 1.7058711051940918 1.0
5900 9.31160344362259 773455872 292.13299560546875 300.0 4096 262.7717590332031 298.4997863769531 41228 0.8475832939147949 0.863571286201477 -0.015988009050488472 0.04766540601849556 1.00021493434906 9.05072101886617e-06 0.011136009357869625 0.9349410533905029 1.0
6000 9.442765024370617 786563072 292.1806335449219 300.0 4096 262.8807067871094 298.48870849609375 41224 0.9347872734069824 0.9516993761062622 -0.0169121902436018 0.04983215406537056 1.0001531839370728 3.933243533538189e-06 0.02399112842977047 0.9891811609268188 1.0
6100 9.573057310448753 799670272 292.31146240234375 300.0 4096 263.19317626953125 298.6914367675781 41195 0.45760270953178406 0.46448421478271484 -0.006881502456963062 0.07311554253101349 0.9996404647827148 6.376731562340865e-06 0.003286525374278426 0.6901048421859741 1.0
6200 9.704480332467291 812777472 292.32220458984375 300.0 4096 263.3621520996094 298.7465515136719 41191 1.7872618436813354 1.8103700876235962 -0.02310824766755104 0.03994293138384819 1.0003857612609863 8.607458767073695e-06 -0.014743344858288765 1.3582309484481812 1.0
6300 9.834699893726244 825884672 292.2945556640625 300.0 4096 263.47052001953125 298.6772155761719 41193 0.09616857022047043 0.09623108059167862 -6.249070429475978e-05 0.10387420654296875 1.0002021789550781 7.184547484939685e-06 0.020096430554986 0.3236674666404724 1.0
6400 9.965333948201604 838991872 292.5241394042969 300.0 4096 263.5299377441406 298.6748046875 41189 0.6287463903427124 0.6424925923347473 -0.01374619361013174 0.06721954792737961 0.9996337294578552 6.997824584686896e-06 0.012824033387005329 0.8150826692581177 1.0
6500 10.095301186972193 852099072 292.65618896484375 300.0 4096 263.7700500488281 298.7667541503906 41184 1.3946092128753662 1.4111028909683228 -0.01649376004934311 0.0427703857421875 1.0003621578216553 7.0654396040481515e-06 -2.6008114218711853e-05 1.1933637857437134 1.0
6600 10.224384131630261 865206272 292.5934753417969 300.0 4096 263.8475646972656 298.6929016113281 41189 1.1213263273239136 1.137156367301941 -0.01583009585738182 0.04109802469611168 1.0001912117004395 6.701264737785095e-06 0.00194449070841074 1.0665510892868042 1.0
Iteration Wall_Time Samples Test_Return Test_Episode_Length Test_Episodes Train_Return Train_Episode_Length Train_Episodes Loss Critic_Loss Actor_Loss Clip_Frac Imp_Ratio Action_Bound_Loss Adv_Mean Adv_Std Root_Pos_Err Root_Rot_Err Body_Pos_Err Pose_Err Dof_Vel_Err Root_Vel_Err Root_Ang_Vel_Err Exp_Prob
0 0.03790305124388801 131072 3.458097219467163 9.676041603088379 5547 3.481452703475952 10.088623046875 10776 2.045713424682617 2.0486841201782227 -0.00297060189768672 0.02211608923971653 1.0005534887313843 0.0 1.3677968978881836 0.9722801446914673 0.16464510560035706 0.48491284251213074 0.1991124153137207 0.7979801297187805 2.4374382495880127 0.5458595752716064 1.7305785417556763 1.0
100 0.14028728855980768 13238272 8.348180770874023 16.203258514404297 4482 5.580580711364746 13.090983390808105 998705 0.22555170953273773 0.23275618255138397 -0.007204458117485046 0.09007415920495987 0.9996063113212585 0.0 -0.003777723992243409 0.4856572449207306 0.12556971609592438 0.35618856549263 0.15825609862804413 0.6522977352142334 2.158844470977783 0.4625379145145416 1.2177783250808716 1.0
200 0.2391286108891169 26345472 15.202598571777344 26.275156021118164 5099 10.922847747802734 19.912866592407227 655375 1.367794394493103 1.3743342161178589 -0.006539908703416586 0.08209075778722763 0.9999740719795227 0.0 0.021837038919329643 1.1826207637786865 0.16858601570129395 0.36267971992492676 0.14178048074245453 0.5372854471206665 2.019312620162964 0.43567049503326416 1.1734627485275269 1.0
300 0.34371951791975236 39452672 30.66168975830078 52.86815643310547 12501 19.315731048583984 33.8778076171875 383898 5.035714149475098 5.039432525634766 -0.00371863623149693 0.066864013671875 0.9997726678848267 0.0 0.025753090158104897 2.2526044845581055 0.2332698404788971 0.337080180644989 0.14352862536907196 0.49541884660720825 2.028980016708374 0.4144665598869324 1.0978403091430664 1.0
400 0.45233544607957205 52559872 55.06707000732422 93.22225952148438 10490 30.478681564331055 53.47377014160156 242045 9.794198989868164 9.79753589630127 -0.0033357476349920034 0.05196685716509819 0.9999668002128601 4.876951038568222e-07 -0.007341926917433739 3.1454570293426514 0.2690531015396118 0.29207348823547363 0.12411142885684967 0.4444043040275574 2.0276339054107666 0.41978883743286133 0.9031079411506653 1.0
500 0.5559211652808719 65667072 176.98739624023438 275.28863525390625 4133 52.003692626953125 90.44608306884766 140302 22.175498962402344 22.179996490478516 -0.004498564172536135 0.0557403564453125 0.9999174475669861 4.499637270782841e-06 0.1785009354352951 4.721315860748291 0.16008548438549042 0.2208227962255478 0.10707403719425201 0.39051851630210876 2.0596506595611572 0.3576701879501343 0.8461392521858215 1.0
600 0.6584217709302902 78774272 188.0064239501953 277.47735595703125 4110 124.94702911376953 211.8487548828125 59092 8.643996238708496 8.66704273223877 -0.023049307987093925 0.05715179443359375 1.0002479553222656 1.0225109690509271e-05 0.2105775624513626 2.9809746742248535 0.09892363101243973 0.18581058084964752 0.09535616636276245 0.35886454582214355 2.049063205718994 0.31517741084098816 0.8282600045204163 1.0
700 0.7604554478327433 91881472 199.9002685546875 277.7563171386719 4116 168.6741180419922 266.2329406738281 46722 3.7058513164520264 3.720327854156494 -0.01447625644505024 0.05437011644244194 0.999982476234436 4.350945800979389e-06 0.06633101403713226 2.011991500854492 0.08419738709926605 0.1590648889541626 0.08010674268007278 0.3064531683921814 1.95604407787323 0.2824501097202301 0.7507563829421997 1.0
800 0.8551540033684837 104988672 209.71414184570312 277.3541259765625 4117 183.7285919189453 272.3726501464844 45551 1.7254981994628906 1.739317536354065 -0.013819199986755848 0.05976562574505806 1.0002756118774414 8.262381925305817e-07 0.036071691662073135 1.3377296924591064 0.07881823182106018 0.13665829598903656 0.0680362656712532 0.26307135820388794 1.870903730392456 0.2676064670085907 0.6638927459716797 1.0
900 0.9451324166854222 118095872 215.8909912109375 275.1048278808594 4121 192.79624938964844 273.4263610839844 45362 1.5995787382125854 1.6095432043075562 -0.00996457226574421 0.05385437235236168 0.9995360374450684 2.305074076502933e-06 0.04343613237142563 1.3401765823364258 0.07744535803794861 0.12353778630495071 0.059035271406173706 0.23691704869270325 1.7953176498413086 0.24636361002922058 0.5967174172401428 1.0
1000 1.031907919049263 131203072 228.42440795898438 282.668701171875 4108 201.34458923339844 276.18658447265625 44859 0.8340440988540649 0.844920814037323 -0.01087674219161272 0.06039276346564293 0.9995887875556946 3.825508372301556e-07 0.033278100192546844 0.9522521495819092 0.07514216005802155 0.10794688016176224 0.05252747982740402 0.21247082948684692 1.7254339456558228 0.23752593994140625 0.5365195870399475 1.0
1100 1.1117360765404172 144310272 236.7594757080078 286.3714904785156 4105 210.02969360351562 279.85626220703125 44217 0.436063289642334 0.44001516699790955 -0.003951843827962875 0.06096344068646431 1.000032901763916 1.4537905599354417e-06 0.0005801069783046842 0.6589240431785583 0.06738383322954178 0.09234527498483658 0.04792474955320358 0.1981855183839798 1.6624640226364136 0.22361662983894348 0.4845103323459625 1.0
1200 1.1885832118325763 157417472 246.0915069580078 292.74139404296875 4099 217.5238800048828 283.47882080078125 43625 0.7712245583534241 0.7829374670982361 -0.011712978594005108 0.05947418138384819 0.9998568892478943 1.3509049949789187e-06 0.0187059435993433 0.9153596758842468 0.0632362961769104 0.0851922333240509 0.04474323242902756 0.18791598081588745 1.6077814102172852 0.21346667408943176 0.43873390555381775 1.0
1300 1.2621397677395079 170524672 255.3668670654297 299.2509765625 4096 226.9701690673828 290.3517761230469 42495 0.4292074143886566 0.4379279315471649 -0.008720431476831436 0.05822448804974556 0.999881386756897 4.5231513468024787e-07 0.0033141677267849445 0.6556135416030884 0.0621127113699913 0.08592097461223602 0.04143388196825981 0.17970694601535797 1.5478712320327759 0.2023448795080185 0.39962172508239746 1.0
1400 1.3324100510941612 183631872 258.18878173828125 299.384765625 4096 234.35240173339844 295.5928649902344 41654 0.2892617881298065 0.29666921496391296 -0.007407471537590027 0.07069244235754013 0.9999032020568848 8.388521877122912e-08 0.0040924581699073315 0.5335317254066467 0.05912117287516594 0.07921527326107025 0.04044875130057335 0.17326760292053223 1.4925646781921387 0.19576431810855865 0.3827041685581207 1.0
1500 1.400555329322815 196739072 260.5299987792969 299.5185852050781 4096 238.3681182861328 296.7851867675781 41466 0.23394612967967987 0.24427857995033264 -0.010332496836781502 0.07588043063879013 0.9994792938232422 2.285503164500824e-08 0.008686767891049385 0.47675463557243347 0.05619975924491882 0.0744611993432045 0.038828667253255844 0.16761121153831482 1.4474239349365234 0.19222494959831238 0.35912227630615234 1.0
1600 1.4668245811594858 209846272 262.10772705078125 299.17333984375 4096 241.89024353027344 297.82763671875 41298 0.4520087242126465 0.4643726944923401 -0.01236388087272644 0.05395202711224556 0.9999432563781738 1.1376857145251051e-07 -0.010276616550981998 0.6784078478813171 0.05651504546403885 0.06657140702009201 0.03670920431613922 0.1608274281024933 1.402757167816162 0.1895867884159088 0.3412645161151886 1.0
1700 1.5314821949270037 222953472 264.2906188964844 299.6570129394531 4096 244.66690063476562 298.1673278808594 41243 0.12414156645536423 0.12729287147521973 -0.0031512887217104435 0.08041229099035263 0.9996505975723267 5.315488920132339e-07 0.013635039329528809 0.35732302069664 0.056116774678230286 0.06805861741304398 0.0362863764166832 0.1534063071012497 1.3605480194091797 0.18549218773841858 0.33118560910224915 1.0
1800 1.5945748180150985 236060672 265.88775634765625 299.86572265625 4096 247.59413146972656 298.9120788574219 41126 0.10107841342687607 0.10412576049566269 -0.0030473393853753805 0.08508606255054474 1.0000799894332886 3.3899145819304977e-06 0.014132439158856869 0.3183514177799225 0.06048576161265373 0.06679077446460724 0.034858908504247665 0.1484188288450241 1.319532036781311 0.18127380311489105 0.3216160237789154 1.0
1900 1.6571432475248973 249167872 267.48040771484375 299.725341796875 4096 249.64710998535156 299.0664367675781 41103 0.09110211580991745 0.094675213098526 -0.0035730896051973104 0.089508056640625 1.000031590461731 4.170350166532444e-06 -0.000734016764909029 0.3108803927898407 0.05057009309530258 0.0665484368801117 0.0340442918241024 0.14465856552124023 1.280229926109314 0.17486527562141418 0.3142780363559723 1.0
2000 1.7190770918793148 262275072 268.938720703125 299.9314270019531 4096 251.59580993652344 299.2666931152344 41071 0.07347007840871811 0.07553794234991074 -0.002067871391773224 0.09751129150390625 0.999921977519989 3.872194156429032e-06 0.011942300945520401 0.272052526473999 0.0503392294049263 0.06415169686079025 0.033429503440856934 0.139940544962883 1.2535721063613892 0.1709429919719696 0.3076604902744293 1.0
2100 1.7794917687442569 275382272 269.4503173828125 299.5210266113281 4096 253.24908447265625 299.3648681640625 41054 0.06853508204221725 0.06982863694429398 -0.001293547684326768 0.11005401611328125 0.9998669624328613 1.1756955245800782e-05 0.008948284201323986 0.26348358392715454 0.053505752235651016 0.06116955727338791 0.03242087364196777 0.13597045838832855 1.2258867025375366 0.1675567477941513 0.29786980152130127 1.0
2200 1.8396433725621966 288489472 270.08465576171875 299.384521484375 4096 254.5725860595703 299.4468688964844 41041 0.06221010163426399 0.06356668472290039 -0.001356587396003306 0.11330872029066086 0.9999459385871887 1.0817786460393108e-05 0.010906387120485306 0.25091737508773804 0.04743395745754242 0.06113191694021225 0.03179102763533592 0.13598088920116425 1.209682583808899 0.16440045833587646 0.3005852699279785 1.0
2300 1.900359694759051 301596672 271.8168640136719 300.0 4096 255.8320770263672 299.4108581542969 41048 0.0651739314198494 0.06645902991294861 -0.0012850912753492594 0.10839539021253586 0.9995619058609009 1.5362036720034666e-05 0.004100141581147909 0.252826064825058 0.04417188838124275 0.05973375588655472 0.03139939531683922 0.13233959674835205 1.1886858940124512 0.16187317669391632 0.29377976059913635 1.0
2400 1.9607836935917538 314703872 272.40179443359375 300.0 4096 256.9803771972656 299.4902648925781 41037 0.05534830689430237 0.05872026085853577 -0.0033719472121447325 0.11027374118566513 0.999674916267395 1.6508241969859228e-05 0.007239720318466425 0.2424858659505844 0.043886952102184296 0.06099512055516243 0.030305393040180206 0.130966916680336 1.1754568815231323 0.16045048832893372 0.29779893159866333 1.0
Iteration Wall_Time Samples Test_Return Test_Episode_Length Test_Episodes Train_Return Train_Episode_Length Train_Episodes Loss Critic_Loss Actor_Loss Clip_Frac Imp_Ratio Action_Bound_Loss Adv_Mean Adv_Std Exp_Prob
0 0.003665739099184672 131072 3.5577468872070312 9.668476104736328 6078 3.506186008453369 9.850666999816895 10902 2.3800389766693115 2.383646249771118 -0.0036074623931199312 0.0241241455078125 1.0004106760025024 0.0 1.3737847805023193 0.9933802485466003 1.0
100 0.13238845785458883 13238272 7.724564075469971 16.38129997253418 4385 5.353484153747559 13.552608489990234 964653 0.432373046875 0.44094738364219666 -0.008574352599680424 0.09236755222082138 0.9998330473899841 0.0 0.010741310194134712 0.6692838072776794 1.0
200 0.26186889694796667 26345472 14.025925636291504 26.006481170654297 4320 10.34317398071289 20.79399299621582 627748 1.1310471296310425 1.1394926309585571 -0.008445318788290024 0.09033508598804474 1.0001171827316284 0.0 0.0016309358179569244 1.0729795694351196 1.0
300 0.3939661950535244 39452672 22.012495040893555 36.37970733642578 8059 16.46201515197754 30.054319381713867 433594 3.038455009460449 3.046114921569824 -0.007660280913114548 0.09559936821460724 1.000339388847351 0.0 0.012863941490650177 1.7539993524551392 1.0
400 0.5293210820357005 52559872 27.288644790649414 43.289520263671875 15045 21.540258407592773 36.70237731933594 354780 3.732870101928711 3.7400290966033936 -0.007158804684877396 0.08116608113050461 0.9998394250869751 0.0 0.047280363738536835 1.9399824142456055 1.0
500 0.6632512595918444 65667072 29.090333938598633 46.01120376586914 9452 23.95254898071289 39.9257698059082 325969 4.05950403213501 4.065564155578613 -0.006060307379812002 0.08378753811120987 0.9997875094413757 0.0 -0.0867314264178276 2.024611473083496 1.0
600 0.7978632658057743 78774272 31.3882999420166 48.914764404296875 11218 26.262197494506836 43.30613327026367 300223 5.003146648406982 5.009103298187256 -0.005955891218036413 0.08071136474609375 0.999846875667572 0.0 0.11951768398284912 2.258948564529419 1.0
700 0.9336999477942785 91881472 44.18305969238281 68.59791564941406 10342 29.188020706176758 47.83479690551758 271490 6.294112682342529 6.300724506378174 -0.006612320430576801 0.08610077202320099 0.9996490478515625 0.0 0.13453292846679688 2.5374879837036133 1.0
800 1.071438388493326 104988672 67.15769958496094 105.34504699707031 8370 35.107505798339844 57.81529235839844 223906 10.893282890319824 10.899460792541504 -0.006175526417791843 0.08561249077320099 0.9997548460960388 2.9153019553973536e-08 0.01725953072309494 3.315387010574341 1.0

300 0.6841375447644128 39452672 45.97769546508789 58.55148696899414 8136 29.22167205810547 41.937252044677734 310184 3.5965123176574707 3.6001076698303223 -0.0035957046784460545 0.04466400295495987 0.9998351335525513 0.0 0.12820841372013092 1.9130264520645142 1.0

400 0.9023767106400595 52559872 106.84422302246094 142.97003173828125 6248 37.19279098510742 53.70098114013672 241410 8.51197338104248 8.516942024230957 -0.00496926624327898 0.04703369364142418 0.9998814463615417 0.0 0.13163040578365326 2.94291090965271 1.0

500 1.1178313858641518 65667072 178.68948364257812 253.563720703125 4284 55.41175842285156 82.80520629882812 155059 24.44959259033203 24.4565486907959 -0.0069567859172821045 0.07152710109949112 0.9999311566352844 0.0 -0.6679297685623169 4.807315826416016 1.0

600 1.330726146168179 78774272 197.87261962890625 283.8133544921875 4115 81.53684997558594 125.5173568725586 101525 21.614837646484375 21.623762130737305 -0.008928214199841022 0.07283172756433487 0.9996809363365173 0.0 0.4299531579017639 4.6853251457214355 1.0

700 1.5455302047067219 91881472 77.49481964111328 107.88643646240234 8789 128.12142944335938 196.08193969726562 63919 36.623741149902344 36.63151168823242 -0.007772109005600214 0.09121246635913849 1.0002226829528809 0.0 -1.2373361587524414 6.77694034576416 1.0

800 1.753831127749549 104988672 222.0412139892578 291.95355224609375 4112 149.79673767089844 228.7474365234375 54736 11.781457901000977 11.811141014099121 -0.029682090505957603 0.07169647514820099 0.999724805355072 0.0 0.1261197328567505 3.476975917816162 1.0

900 1.9479262376493878 118095872 257.7203369140625 298.43701171875 4096 202.75082397460938 282.8310546875 43975 10.13241958618164 10.165492057800293 -0.033075228333473206 0.05465088039636612 1.0001364946365356 0.0 0.07449130713939667 3.2107930183410645 1.0

1000 2.1330714303255083 131203072 264.1808776855469 298.6871032714844 4097 215.88479614257812 287.3170471191406 43155 8.66231918334961 8.695291519165039 -0.03297140449285507 0.05346984788775444 0.9995803236961365 0.0 -0.007348828017711639 3.0402514934539795 1.0

1100 2.3112743133306504 144310272 268.4400939941406 298.4259338378906 4097 223.51158142089844 289.4073486328125 42770 6.9793524742126465 7.011203289031982 -0.03185078501701355 0.0423126220703125 1.0000410079956055 0.0 -0.008137507364153862 2.6635680198669434 1.0

1200 2.4845132106542587 157417472 271.2703552246094 297.3993225097656 4097 228.85618591308594 290.4093322753906 42563 8.586372375488281 8.624625205993652 -0.03825259953737259 0.04465789720416069 1.0001014471054077 0.0 0.007123839110136032 2.942532539367676 1.0

1300 2.6543416567643483 170524672 272.7734069824219 296.84521484375 4096 232.89805603027344 291.6158752441406 42386 5.943634033203125 5.975793361663818 -0.03215831145644188 0.04927215725183487 1.000028371810913 0.0 0.009031565859913826 2.4518070220947266 1.0

1400 2.8204082481066384 183631872 277.49462890625 299.4835205078125 4097 236.41615295410156 292.50811767578125 42210 4.943181037902832 4.975125789642334 -0.03194398805499077 0.05166473612189293 1.0003836154937744 0.0 0.011776469647884369 2.240539312362671 1.0

1500 2.982217732667923 196739072 277.75311279296875 298.669921875 4096 239.16656494140625 293.16766357421875 42107 8.011391639709473 8.05005168914795 -0.0386631153523922 0.04846344143152237 1.000049114227295 0.0 -0.04815045744180679 2.8476972579956055 1.0

1600 3.143984047174454 209846272 278.0390319824219 297.73040771484375 4102 240.87429809570312 293.3594970703125 42057 7.748264312744141 7.7854905128479 -0.0372270904481411 0.04048767313361168 1.000105619430542 0.0 -0.053974077105522156 2.8021903038024902 1.0

1700 3.3068565702438355 222953472 280.3390808105469 299.3109436035156 4097 242.7395782470703 293.74432373046875 42008 4.8965301513671875 4.9274468421936035 -0.030917227268218994 0.05058136209845543 1.0003526210784912 0.0 0.04473353177309036 2.2345526218414307 1.0

1800 3.4694438166088526 236060672 282.4566345214844 299.61273193359375 4098 244.27149963378906 294.0457458496094 41944 7.198688507080078 7.235044956207275 -0.03635519742965698 0.0417022705078125 1.0002186298370361 0.0 -0.05473881587386131 2.697681188583374 1.0

1900 3.6303516543573804 249167872 280.8148498535156 298.0092468261719 4101 245.33482360839844 294.1973571777344 41936 3.9369747638702393 3.9632720947265625 -0.026297137141227722 0.04676055908203125 0.9993820190429688 0.0 -0.002066364511847496 2.0016441345214844 1.0

2000 3.792786762714386 262275072 282.2678527832031 298.29632568359375 4100 246.74398803710938 294.5931701660156 41876 3.8870010375976562 3.917659044265747 -0.03065834753215313 0.04033050686120987 1.0000535249710083 0.0 0.030415503308176994 1.9848703145980835 1.0

2100 3.95050137049622 275382272 283.5215148925781 299.0869140625 4097 248.2617645263672 295.291748046875 41751 3.9760422706604004 4.005212306976318 -0.029170086607336998 0.05107421800494194 1.0000914335250854 0.0 -0.03992871940135956 2.012155771255493 1.0

2200 4.106245559851328 288489472 283.8492126464844 299.4940490722656 4097 248.85910034179688 295.1377868652344 41785 2.8539860248565674 2.8764634132385254 -0.022477420046925545 0.05257263407111168 1.0002192258834839 0.0 0.02419661171734333 1.7205556631088257 1.0

2300 4.259930335614416 301596672 284.6956787109375 299.5852355957031 4096 249.86453247070312 295.5555419921875 41712 3.4533886909484863 3.4793527126312256 -0.025963738560676575 0.04206237941980362 0.9999890327453613 6.180746137118831e-09 0.005731739103794098 1.8768370151519775 1.0

2400 4.4110491424136695 314703872 285.146240234375 299.42724609375 4096 250.74388122558594 295.684814453125 41696 2.506335496902466 2.5332813262939453 -0.02694610320031643 0.05350647121667862 1.0000230073928833 1.0583931242535982e-07 0.002819073386490345 1.6091725826263428 1.0

2500 4.561053422358301 327811072 285.87896728515625 299.77685546875 4096 251.8474578857422 296.0636901855469 41633 5.010608673095703 5.04325008392334 -0.032641325145959854 0.04087982326745987 1.0003410577774048 5.276239676277328e-07 -0.02650967240333557 2.2564537525177 1.0

2600 4.70885449508826 340918272 286.4322509765625 299.87091064453125 4097 252.4371795654297 296.1680603027344 41599 3.7842094898223877 3.81372332572937 -0.029513729736208916 0.04295196756720543 1.0002853870391846 8.535772622053628e-07 -0.007339641451835632 1.9767687320709229 1.0

2700 4.8578623243172965 354025472 287.2787780761719 300.0 4096 253.03311157226562 296.17340087890625 41616 3.081990957260132 3.1061792373657227 -0.024188442155718803 0.04128265380859375 1.0000704526901245 2.9901032121415483e-06 0.004630055278539658 1.7701925039291382 1.0

2800 5.005376532011562 367132672 287.2805480957031 299.768798828125 4096 253.46429443359375 296.132080078125 41611 2.7554121017456055 2.7824833393096924 -0.027071187272667885 0.03485107421875 1.0004757642745972 1.2572718333103694e-06 0.014088173396885395 1.6808280944824219 1.0

2900 5.154052255021202 380239872 288.077880859375 300.0 4096 254.01573181152344 296.3523864746094 41588 2.014885663986206 2.0374693870544434 -0.02258383482694626 0.03988800197839737 1.0002999305725098 2.9941791126475437e-06 -0.002527538686990738 1.4373935461044312 1.0

3000 5.30152285112275 393347072 287.9549865722656 299.9306945800781 4096 254.43707275390625 296.184814453125 41595 3.755399703979492 3.784907102584839 -0.029507413506507874 0.04610290750861168 1.0000041723251343 4.249038738635136e-06 -0.04069092124700546 1.9692193269729614 1.0

3100 5.445491667787234 406454272 288.3367919921875 299.9309387207031 4096 255.18768310546875 296.6951599121094 41515 1.7611960172653198 1.7818125486373901 -0.020616142079234123 0.05607757717370987 1.0000779628753662 3.926299086742802e-06 0.005378334317356348 1.3518121242523193 1.0

3200 5.592305310898357 419561472 288.46771240234375 300.0 4096 255.52613830566406 296.6970520019531 41522 1.591511845588684 1.6099499464035034 -0.01843808777630329 0.04969482496380806 1.0001823902130127 4.9968448365689255e-06 0.00552980974316597 1.272504448890686 1.0

3300 5.73656424999237 432668672 288.7100830078125 300.0 4096 256.1578063964844 296.9136047363281 41481 2.799917697906494 2.825211524963379 -0.02529444731771946 0.04185333475470543 1.0005756616592407 4.474830802791985e-06 -0.010374471545219421 1.6864839792251587 1.0

3400 5.8801159575912685 445775872 288.9242858886719 299.9309387207031 4096 256.36895751953125 296.8573303222656 41484 2.1066126823425293 2.126126527786255 -0.019514260813593864 0.037841796875 1.0001181364059448 4.337548944022274e-06 0.01022958755493164 1.4664206504821777 1.0

3500 6.02598216076692 458883072 289.08355712890625 299.9385070800781 4096 256.8216857910156 296.961181640625 41472 3.172740936279297 3.1984167098999023 -0.025676006451249123 0.03765869140625 1.0000773668289185 3.7260651879478246e-06 -0.001793133094906807 1.7914694547653198 1.0

3600 6.166821442842483 471990272 289.3002014160156 299.9309387207031 4096 257.3298645019531 297.22747802734375 41426 3.3270766735076904 3.355482578277588 -0.028405768796801567 0.04287567362189293 1.0001747608184814 4.787861598742893e-06 -0.05345971882343292 1.8363453149795532 1.0

3700 6.307802292638355 485097472 289.748779296875 300.0 4096 257.86151123046875 297.53887939453125 41383 0.696075975894928 0.706209659576416 -0.010133697651326656 0.05001220852136612 1.0002206563949585 5.499898634298006e-06 0.044660963118076324 0.848052978515625 1.0

3800 6.448884352644285 498204672 289.7659912109375 300.0 4096 258.02227783203125 297.37774658203125 41404 3.3619790077209473 3.389108419418335 -0.027129296213388443 0.04198303446173668 1.0001246929168701 3.7042698295408627e-06 -0.02660517953336239 1.8465968370437622 1.0

3900 6.588188451793458 511311872 289.8445739746094 300.0 4096 258.4045715332031 297.47979736328125 41386 0.642966628074646 0.6495970487594604 -0.006630317773669958 0.05677948147058487 0.9995511174201965 6.578752163477475e-06 0.02808937430381775 0.8127865195274353 1.0

4000 6.726378401915232 524419072 289.9884033203125 300.0 4096 258.8446960449219 297.63104248046875 41376 3.682492971420288 3.7075142860412598 -0.025022177025675774 0.0439605712890625 0.9998664855957031 8.492651431879494e-06 -0.028409186750650406 1.938138484954834 1.0

4100 6.865647234121958 537526272 290.2672119140625 300.0 4096 259.1432800292969 297.7559509277344 41357 2.4459166526794434 2.466510057449341 -0.020593341439962387 0.04084014892578125 1.0001024007797241 5.080224127596011e-06 -0.011953378096222878 1.5734432935714722 1.0

4200 7.005868871278233 550633472 290.2807922363281 300.0 4096 259.176513671875 297.5109558105469 41387 4.137275218963623 4.167508602142334 -0.030234158039093018 0.04006500169634819 1.000249981880188 7.65346885600593e-06 -0.046141788363456726 2.043006658554077 1.0

4300 7.145364085502095 563740672 290.63397216796875 300.0 4096 259.479248046875 297.5946960449219 41376 3.163763999938965 3.1887052059173584 -0.024941442534327507 0.04553833231329918 0.9998717308044434 4.9195264182344545e-06 -0.02863049879670143 1.8054074048995972 1.0

4400 7.2819495403104355 576847872 290.61810302734375 300.0 4096 259.97833251953125 297.94317626953125 41317 2.9723498821258545 2.9980435371398926 -0.025693759322166443 0.04538268968462944 1.0005426406860352 4.761326181323966e-06 -0.03229881078004837 1.7382824420928955 1.0

4500 7.42071021536986 589955072 290.5549621582031 299.9382629394531 4096 259.9028625488281 297.76416015625 41357 1.9538376331329346 1.9778677225112915 -0.024030115455389023 0.0409698486328125 0.9999200105667114 4.667597750085406e-06 0.002664700150489807 1.4161818027496338 1.0

4600 7.559364299641715 603062272 290.735595703125 300.0 4096 260.1875915527344 297.8393249511719 41336 1.9054195880889893 1.9264566898345947 -0.02103760652244091 0.03946380689740181 1.0002020597457886 5.491119281941792e-06 -0.011623173952102661 1.3965487480163574 1.0

4700 7.695803228815397 616169472 291.050537109375 300.0 4096 260.4811706542969 297.86083984375 41332 1.401962161064148 1.4209274053573608 -0.01896517351269722 0.04799194261431694 0.9996212124824524 6.50837273497018e-06 0.01019834354519844 1.2005034685134888 1.0

4800 7.831104719969962 629276672 291.0531311035156 300.0 4096 260.8967590332031 298.1639709472656 41289 2.284205436706543 2.305635929107666 -0.021430453285574913 0.03845367580652237 0.999745786190033 5.007582785765408e-06 0.01622425578534603 1.5223805904388428 1.0

4900 7.967532527844111 642383872 291.4291076660156 300.0 4096 261.09228515625 298.213623046875 41286 1.8574472665786743 1.879534125328064 -0.0220867320895195 0.04373321682214737 1.000396966934204 2.059900543827098e-05 -0.0026259771548211575 1.378141164779663 1.0

5000 8.104323914117284 655491072 291.4174499511719 300.0 4096 260.99310302734375 297.9155578613281 41314 0.8911637663841248 0.9093471765518188 -0.01818343624472618 0.05381317064166069 0.9998849034309387 6.860016128484858e-06 0.0012053390964865685 0.9634590148925781 1.0

5100 8.239648281137148 668598272 291.32562255859375 300.0 4096 261.3821716308594 298.1588439941406 41283 2.081143856048584 2.101200580596924 -0.020057115703821182 0.04161529615521431 0.99986332654953 7.407339126075385e-06 -0.01021777093410492 1.4601324796676636 1.0

5200 8.373997529943784 681705472 291.43389892578125 300.0 4096 261.49774169921875 298.1642761230469 41286 2.246889591217041 2.270578145980835 -0.023688431829214096 0.04612274095416069 1.0002301931381226 5.8847758737101685e-06 -0.02113591879606247 1.523840069770813 1.0

5300 8.510284465617604 694812672 291.50048828125 300.0 4096 261.66448974609375 298.20892333984375 41285 1.0668748617172241 1.082558035850525 -0.015682892873883247 0.05399170145392418 0.999925434589386 6.424717412301106e-06 0.01107665617018938 1.0493857860565186 1.0

5400 8.643388453854454 707919872 291.4917297363281 300.0 4096 261.9712829589844 298.4211730957031 41239 1.0997670888900757 1.1175036430358887 -0.017736369743943214 0.05090789869427681 1.0005923509597778 4.864532456849702e-06 0.018845096230506897 1.0600249767303467 1.0

5500 8.777131089170775 721027072 291.55548095703125 300.0 4096 262.0640563964844 298.445068359375 41229 2.015329360961914 2.03706431388855 -0.021735049784183502 0.04201202467083931 0.9997649192810059 5.990129920974141e-06 -0.01329814177006483 1.4319106340408325 1.0

5600 8.913366629216407 734134272 291.5765075683594 300.0 4096 261.916259765625 298.0985412597656 41309 2.4038712978363037 2.4265332221984863 -0.022661685943603516 0.04900207743048668 1.000266432762146 7.650901352462824e-06 -0.027421394363045692 1.5587607622146606 1.0

5700 9.045857353342903 747241472 291.85406494140625 300.0 4096 262.4783935546875 298.5465393066406 41219 2.4167535305023193 2.440687894821167 -0.023933321237564087 0.05488128587603569 1.0006788969039917 6.0049874264223035e-06 -0.016463693231344223 1.5661680698394775 1.0

5800 9.17870940234926 760348672 291.952880859375 300.0 4096 262.65277099609375 298.5517883300781 41212 2.8733482360839844 2.8987109661102295 -0.025362346321344376 0.03836517408490181 1.0003782510757446 5.050033450970659e-06 -0.032663650810718536 1.7058711051940918 1.0

5900 9.31160344362259 773455872 292.13299560546875 300.0 4096 262.7717590332031 298.4997863769531 41228 0.8475832939147949 0.863571286201477 -0.015988009050488472 0.04766540601849556 1.00021493434906 9.05072101886617e-06 0.011136009357869625 0.9349410533905029 1.0

6000 9.442765024370617 786563072 292.1806335449219 300.0 4096 262.8807067871094 298.48870849609375 41224 0.9347872734069824 0.9516993761062622 -0.0169121902436018 0.04983215406537056 1.0001531839370728 3.933243533538189e-06 0.02399112842977047 0.9891811609268188 1.0

6100 9.573057310448753 799670272 292.31146240234375 300.0 4096 263.19317626953125 298.6914367675781 41195 0.45760270953178406 0.46448421478271484 -0.006881502456963062 0.07311554253101349 0.9996404647827148 6.376731562340865e-06 0.003286525374278426 0.6901048421859741 1.0

6200 9.704480332467291 812777472 292.32220458984375 300.0 4096 263.3621520996094 298.7465515136719 41191 1.7872618436813354 1.8103700876235962 -0.02310824766755104 0.03994293138384819 1.0003857612609863 8.607458767073695e-06 -0.014743344858288765 1.3582309484481812 1.0

6300 9.834699893726244 825884672 292.2945556640625 300.0 4096 263.47052001953125 298.6772155761719 41193 0.09616857022047043 0.09623108059167862 -6.249070429475978e-05 0.10387420654296875 1.0002021789550781 7.184547484939685e-06 0.020096430554986 0.3236674666404724 1.0

6400 9.965333948201604 838991872 292.5241394042969 300.0 4096 263.5299377441406 298.6748046875 41189 0.6287463903427124 0.6424925923347473 -0.01374619361013174 0.06721954792737961 0.9996337294578552 6.997824584686896e-06 0.012824033387005329 0.8150826692581177 1.0

6500 10.095301186972193 852099072 292.65618896484375 300.0 4096 263.7700500488281 298.7667541503906 41184 1.3946092128753662 1.4111028909683228 -0.01649376004934311 0.0427703857421875 1.0003621578216553 7.0654396040481515e-06 -2.6008114218711853e-05 1.1933637857437134 1.0

6600 10.224384131630261 865206272 292.5934753417969 300.0 4096 263.8475646972656 298.6929016113281 41189 1.1213263273239136 1.137156367301941 -0.01583009585738182 0.04109802469611168 1.0001912117004395 6.701264737785095e-06 0.00194449070841074 1.0665510892868042 1.0

Iteration Wall_Time Samples Test_Return Test_Episode_Length Test_Episodes Train_Return Train_Episode_Length Train_Episodes Loss Critic_Loss Actor_Loss Clip_Frac Imp_Ratio Action_Bound_Loss Adv_Mean Adv_Std Root_Pos_Err Root_Rot_Err Body_Pos_Err Pose_Err Dof_Vel_Err Root_Vel_Err Root_Ang_Vel_Err Exp_Prob

0 0.03790305124388801 131072 3.458097219467163 9.676041603088379 5547 3.481452703475952 10.088623046875 10776 2.045713424682617 2.0486841201782227 -0.00297060189768672 0.02211608923971653 1.0005534887313843 0.0 1.3677968978881836 0.9722801446914673 0.16464510560035706 0.48491284251213074 0.1991124153137207 0.7979801297187805 2.4374382495880127 0.5458595752716064 1.7305785417556763 1.0

100 0.14028728855980768 13238272 8.348180770874023 16.203258514404297 4482 5.580580711364746 13.090983390808105 998705 0.22555170953273773 0.23275618255138397 -0.007204458117485046 0.09007415920495987 0.9996063113212585 0.0 -0.003777723992243409 0.4856572449207306 0.12556971609592438 0.35618856549263 0.15825609862804413 0.6522977352142334 2.158844470977783 0.4625379145145416 1.2177783250808716 1.0

200 0.2391286108891169 26345472 15.202598571777344 26.275156021118164 5099 10.922847747802734 19.912866592407227 655375 1.367794394493103 1.3743342161178589 -0.006539908703416586 0.08209075778722763 0.9999740719795227 0.0 0.021837038919329643 1.1826207637786865 0.16858601570129395 0.36267971992492676 0.14178048074245453 0.5372854471206665 2.019312620162964 0.43567049503326416 1.1734627485275269 1.0

300 0.34371951791975236 39452672 30.66168975830078 52.86815643310547 12501 19.315731048583984 33.8778076171875 383898 5.035714149475098 5.039432525634766 -0.00371863623149693 0.066864013671875 0.9997726678848267 0.0 0.025753090158104897 2.2526044845581055 0.2332698404788971 0.337080180644989 0.14352862536907196 0.49541884660720825 2.028980016708374 0.4144665598869324 1.0978403091430664 1.0

400 0.45233544607957205 52559872 55.06707000732422 93.22225952148438 10490 30.478681564331055 53.47377014160156 242045 9.794198989868164 9.79753589630127 -0.0033357476349920034 0.05196685716509819 0.9999668002128601 4.876951038568222e-07 -0.007341926917433739 3.1454570293426514 0.2690531015396118 0.29207348823547363 0.12411142885684967 0.4444043040275574 2.0276339054107666 0.41978883743286133 0.9031079411506653 1.0

500 0.5559211652808719 65667072 176.98739624023438 275.28863525390625 4133 52.003692626953125 90.44608306884766 140302 22.175498962402344 22.179996490478516 -0.004498564172536135 0.0557403564453125 0.9999174475669861 4.499637270782841e-06 0.1785009354352951 4.721315860748291 0.16008548438549042 0.2208227962255478 0.10707403719425201 0.39051851630210876 2.0596506595611572 0.3576701879501343 0.8461392521858215 1.0

600 0.6584217709302902 78774272 188.0064239501953 277.47735595703125 4110 124.94702911376953 211.8487548828125 59092 8.643996238708496 8.66704273223877 -0.023049307987093925 0.05715179443359375 1.0002479553222656 1.0225109690509271e-05 0.2105775624513626 2.9809746742248535 0.09892363101243973 0.18581058084964752 0.09535616636276245 0.35886454582214355 2.049063205718994 0.31517741084098816 0.8282600045204163 1.0

700 0.7604554478327433 91881472 199.9002685546875 277.7563171386719 4116 168.6741180419922 266.2329406738281 46722 3.7058513164520264 3.720327854156494 -0.01447625644505024 0.05437011644244194 0.999982476234436 4.350945800979389e-06 0.06633101403713226 2.011991500854492 0.08419738709926605 0.1590648889541626 0.08010674268007278 0.3064531683921814 1.95604407787323 0.2824501097202301 0.7507563829421997 1.0

800 0.8551540033684837 104988672 209.71414184570312 277.3541259765625 4117 183.7285919189453 272.3726501464844 45551 1.7254981994628906 1.739317536354065 -0.013819199986755848 0.05976562574505806 1.0002756118774414 8.262381925305817e-07 0.036071691662073135 1.3377296924591064 0.07881823182106018 0.13665829598903656 0.0680362656712532 0.26307135820388794 1.870903730392456 0.2676064670085907 0.6638927459716797 1.0

900 0.9451324166854222 118095872 215.8909912109375 275.1048278808594 4121 192.79624938964844 273.4263610839844 45362 1.5995787382125854 1.6095432043075562 -0.00996457226574421 0.05385437235236168 0.9995360374450684 2.305074076502933e-06 0.04343613237142563 1.3401765823364258 0.07744535803794861 0.12353778630495071 0.059035271406173706 0.23691704869270325 1.7953176498413086 0.24636361002922058 0.5967174172401428 1.0

1000 1.031907919049263 131203072 228.42440795898438 282.668701171875 4108 201.34458923339844 276.18658447265625 44859 0.8340440988540649 0.844920814037323 -0.01087674219161272 0.06039276346564293 0.9995887875556946 3.825508372301556e-07 0.033278100192546844 0.9522521495819092 0.07514216005802155 0.10794688016176224 0.05252747982740402 0.21247082948684692 1.7254339456558228 0.23752593994140625 0.5365195870399475 1.0

1100 1.1117360765404172 144310272 236.7594757080078 286.3714904785156 4105 210.02969360351562 279.85626220703125 44217 0.436063289642334 0.44001516699790955 -0.003951843827962875 0.06096344068646431 1.000032901763916 1.4537905599354417e-06 0.0005801069783046842 0.6589240431785583 0.06738383322954178 0.09234527498483658 0.04792474955320358 0.1981855183839798 1.6624640226364136 0.22361662983894348 0.4845103323459625 1.0

1200 1.1885832118325763 157417472 246.0915069580078 292.74139404296875 4099 217.5238800048828 283.47882080078125 43625 0.7712245583534241 0.7829374670982361 -0.011712978594005108 0.05947418138384819 0.9998568892478943 1.3509049949789187e-06 0.0187059435993433 0.9153596758842468 0.0632362961769104 0.0851922333240509 0.04474323242902756 0.18791598081588745 1.6077814102172852 0.21346667408943176 0.43873390555381775 1.0

1300 1.2621397677395079 170524672 255.3668670654297 299.2509765625 4096 226.9701690673828 290.3517761230469 42495 0.4292074143886566 0.4379279315471649 -0.008720431476831436 0.05822448804974556 0.999881386756897 4.5231513468024787e-07 0.0033141677267849445 0.6556135416030884 0.0621127113699913 0.08592097461223602 0.04143388196825981 0.17970694601535797 1.5478712320327759 0.2023448795080185 0.39962172508239746 1.0

1400 1.3324100510941612 183631872 258.18878173828125 299.384765625 4096 234.35240173339844 295.5928649902344 41654 0.2892617881298065 0.29666921496391296 -0.007407471537590027 0.07069244235754013 0.9999032020568848 8.388521877122912e-08 0.0040924581699073315 0.5335317254066467 0.05912117287516594 0.07921527326107025 0.04044875130057335 0.17326760292053223 1.4925646781921387 0.19576431810855865 0.3827041685581207 1.0

1500 1.400555329322815 196739072 260.5299987792969 299.5185852050781 4096 238.3681182861328 296.7851867675781 41466 0.23394612967967987 0.24427857995033264 -0.010332496836781502 0.07588043063879013 0.9994792938232422 2.285503164500824e-08 0.008686767891049385 0.47675463557243347 0.05619975924491882 0.0744611993432045 0.038828667253255844 0.16761121153831482 1.4474239349365234 0.19222494959831238 0.35912227630615234 1.0

1600 1.4668245811594858 209846272 262.10772705078125 299.17333984375 4096 241.89024353027344 297.82763671875 41298 0.4520087242126465 0.4643726944923401 -0.01236388087272644 0.05395202711224556 0.9999432563781738 1.1376857145251051e-07 -0.010276616550981998 0.6784078478813171 0.05651504546403885 0.06657140702009201 0.03670920431613922 0.1608274281024933 1.402757167816162 0.1895867884159088 0.3412645161151886 1.0

1700 1.5314821949270037 222953472 264.2906188964844 299.6570129394531 4096 244.66690063476562 298.1673278808594 41243 0.12414156645536423 0.12729287147521973 -0.0031512887217104435 0.08041229099035263 0.9996505975723267 5.315488920132339e-07 0.013635039329528809 0.35732302069664 0.056116774678230286 0.06805861741304398 0.0362863764166832 0.1534063071012497 1.3605480194091797 0.18549218773841858 0.33118560910224915 1.0

1800 1.5945748180150985 236060672 265.88775634765625 299.86572265625 4096 247.59413146972656 298.9120788574219 41126 0.10107841342687607 0.10412576049566269 -0.0030473393853753805 0.08508606255054474 1.0000799894332886 3.3899145819304977e-06 0.014132439158856869 0.3183514177799225 0.06048576161265373 0.06679077446460724 0.034858908504247665 0.1484188288450241 1.319532036781311 0.18127380311489105 0.3216160237789154 1.0

1900 1.6571432475248973 249167872 267.48040771484375 299.725341796875 4096 249.64710998535156 299.0664367675781 41103 0.09110211580991745 0.094675213098526 -0.0035730896051973104 0.089508056640625 1.000031590461731 4.170350166532444e-06 -0.000734016764909029 0.3108803927898407 0.05057009309530258 0.0665484368801117 0.0340442918241024 0.14465856552124023 1.280229926109314 0.17486527562141418 0.3142780363559723 1.0

2000 1.7190770918793148 262275072 268.938720703125 299.9314270019531 4096 251.59580993652344 299.2666931152344 41071 0.07347007840871811 0.07553794234991074 -0.002067871391773224 0.09751129150390625 0.999921977519989 3.872194156429032e-06 0.011942300945520401 0.272052526473999 0.0503392294049263 0.06415169686079025 0.033429503440856934 0.139940544962883 1.2535721063613892 0.1709429919719696 0.3076604902744293 1.0

2100 1.7794917687442569 275382272 269.4503173828125 299.5210266113281 4096 253.24908447265625 299.3648681640625 41054 0.06853508204221725 0.06982863694429398 -0.001293547684326768 0.11005401611328125 0.9998669624328613 1.1756955245800782e-05 0.008948284201323986 0.26348358392715454 0.053505752235651016 0.06116955727338791 0.03242087364196777 0.13597045838832855 1.2258867025375366 0.1675567477941513 0.29786980152130127 1.0

2200 1.8396433725621966 288489472 270.08465576171875 299.384521484375 4096 254.5725860595703 299.4468688964844 41041 0.06221010163426399 0.06356668472290039 -0.001356587396003306 0.11330872029066086 0.9999459385871887 1.0817786460393108e-05 0.010906387120485306 0.25091737508773804 0.04743395745754242 0.06113191694021225 0.03179102763533592 0.13598088920116425 1.209682583808899 0.16440045833587646 0.3005852699279785 1.0

2300 1.900359694759051 301596672 271.8168640136719 300.0 4096 255.8320770263672 299.4108581542969 41048 0.0651739314198494 0.06645902991294861 -0.0012850912753492594 0.10839539021253586 0.9995619058609009 1.5362036720034666e-05 0.004100141581147909 0.252826064825058 0.04417188838124275 0.05973375588655472 0.03139939531683922 0.13233959674835205 1.1886858940124512 0.16187317669391632 0.29377976059913635 1.0

2400 1.9607836935917538 314703872 272.40179443359375 300.0 4096 256.9803771972656 299.4902648925781 41037 0.05534830689430237 0.05872026085853577 -0.0033719472121447325 0.11027374118566513 0.999674916267395 1.6508241969859228e-05 0.007239720318466425 0.2424858659505844 0.043886952102184296 0.06099512055516243 0.030305393040180206 0.130966916680336 1.1754568815231323 0.16045048832893372 0.29779893159866333 1.0

Iteration Wall_Time Samples Test_Return Test_Episode_Length Test_Episodes Train_Return Train_Episode_Length Train_Episodes Loss Critic_Loss Actor_Loss Clip_Frac Imp_Ratio Action_Bound_Loss Adv_Mean Adv_Std Exp_Prob

0 0.003665739099184672 131072 3.5577468872070312 9.668476104736328 6078 3.506186008453369 9.850666999816895 10902 2.3800389766693115 2.383646249771118 -0.0036074623931199312 0.0241241455078125 1.0004106760025024 0.0 1.3737847805023193 0.9933802485466003 1.0

100 0.13238845785458883 13238272 7.724564075469971 16.38129997253418 4385 5.353484153747559 13.552608489990234 964653 0.432373046875 0.44094738364219666 -0.008574352599680424 0.09236755222082138 0.9998330473899841 0.0 0.010741310194134712 0.6692838072776794 1.0

200 0.26186889694796667 26345472 14.025925636291504 26.006481170654297 4320 10.34317398071289 20.79399299621582 627748 1.1310471296310425 1.1394926309585571 -0.008445318788290024 0.09033508598804474 1.0001171827316284 0.0 0.0016309358179569244 1.0729795694351196 1.0

300 0.3939661950535244 39452672 22.012495040893555 36.37970733642578 8059 16.46201515197754 30.054319381713867 433594 3.038455009460449 3.046114921569824 -0.007660280913114548 0.09559936821460724 1.000339388847351 0.0 0.012863941490650177 1.7539993524551392 1.0

400 0.5293210820357005 52559872 27.288644790649414 43.289520263671875 15045 21.540258407592773 36.70237731933594 354780 3.732870101928711 3.7400290966033936 -0.007158804684877396 0.08116608113050461 0.9998394250869751 0.0 0.047280363738536835 1.9399824142456055 1.0

500 0.6632512595918444 65667072 29.090333938598633 46.01120376586914 9452 23.95254898071289 39.9257698059082 325969 4.05950403213501 4.065564155578613 -0.006060307379812002 0.08378753811120987 0.9997875094413757 0.0 -0.0867314264178276 2.024611473083496 1.0

600 0.7978632658057743 78774272 31.3882999420166 48.914764404296875 11218 26.262197494506836 43.30613327026367 300223 5.003146648406982 5.009103298187256 -0.005955891218036413 0.08071136474609375 0.999846875667572 0.0 0.11951768398284912 2.258948564529419 1.0

700 0.9336999477942785 91881472 44.18305969238281 68.59791564941406 10342 29.188020706176758 47.83479690551758 271490 6.294112682342529 6.300724506378174 -0.006612320430576801 0.08610077202320099 0.9996490478515625 0.0 0.13453292846679688 2.5374879837036133 1.0

800 1.071438388493326 104988672 67.15769958496094 105.34504699707031 8370 35.107505798339844 57.81529235839844 223906 10.893282890319824 10.899460792541504 -0.006175526417791843 0.08561249077320099 0.9997548460960388 2.9153019553973536e-08 0.01725953072309494 3.315387010574341 1.0