Initial commit

README.md

@@ -16,7 +16,7 @@ model-index:
       type: PandaPickAndPlace-v3
     metrics:
     - type: mean_reward
-      value: -45.00 +/- 15.00
+      value: -48.68 +/- 7.91
       name: mean_reward
       verified: false
 ---

config.json

@@ -1 +1 @@
-{"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVNwAAAAAAAACMHnN0YWJsZV9iYXNlbGluZXMzLnNhYy5wb2xpY2llc5SMEE11bHRpSW5wdXRQb2xpY3mUk5Qu", "__module__": "stable_baselines3.sac.policies", "__doc__": "\n    Policy class (with both actor and critic) for SAC.\n\n    :param observation_space: Observation space\n    :param action_space: Action space\n    :param lr_schedule: Learning rate schedule (could be constant)\n    :param net_arch: The specification of the policy and value networks.\n    :param activation_fn: Activation function\n    :param use_sde: Whether to use State Dependent Exploration or not\n    :param log_std_init: Initial value for the log standard deviation\n    :param use_expln: Use ``expln()`` function instead of ``exp()`` when using gSDE to ensure\n        a positive standard deviation (cf paper). It allows to keep variance\n        above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n    :param clip_mean: Clip the mean output when using gSDE to avoid numerical instability.\n    :param features_extractor_class: Features extractor to use.\n    :param normalize_images: Whether to normalize images or not,\n         dividing by 255.0 (True by default)\n    :param optimizer_class: The optimizer to use,\n        ``th.optim.Adam`` by default\n    :param optimizer_kwargs: Additional keyword arguments,\n        excluding the learning rate, to pass to the optimizer\n    :param n_critics: Number of critic networks to create.\n    :param share_features_extractor: Whether to share or not the features extractor\n        between the actor and the critic (this saves computation time)\n    ", "__init__": "<function MultiInputPolicy.__init__ at 0x7842dad45260>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7842dad42bc0>"}, "verbose": 1, "policy_kwargs": {"use_sde": false}, "num_timesteps": 100000, "_total_timesteps": 100000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1760757093400978245, "learning_rate": 0.0003, "tensorboard_log": null, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVjAIAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYwAAAAAAAAABbvID8WD5C+8s9VPl/Fib40kGo/hM9VPt0TcD4A8zI/781VPgo9gj+FaK2+8M9VPpSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGJLBEsDhpSMAUOUdJRSlIwMZGVzaXJlZF9nb2FslGgHKJYwAAAAAAAAALRQST7fBM6/Vztcvp1Lkr8ATQu+xUyIv2nmoz8KQlG/eUWxvrEdyT8gqWc/NPg2vZRoDksESwOGlGgSdJRSlIwLb2JzZXJ2YXRpb26UaAcoljABAAAAAAAALxqPPvGIFz8EZAG/pN66vW+7ij6w87E/TysaPxbvID8WD5C+8s9VPjOEkbz5y0+8IuC3vPuCTzymcRe9/OfSPfNXDjwDFkC9Pu4lPBWg/D5m/Rk/1TsSv02vW71obdA+eGzmPcPvX79fxYm+NJBqP4TPVT4BbJG8dbxQvA/g4D4r8U88IGAXvdnn0j1yWA48NBRAvYS8JjymEZQ/+CvCPkdw8D6MRIM8EgQQv1R497/9Lm0/3RNwPgDzMj/vzVU+kJuRvKMjTbxLa7i84JhPPBW6F73Z59I9clgOPDQUQL3PRyU866+MP2TuJD02MrO9Zsi7vuNe+T+Q+9O/y9aPvwo9gj+FaK2+8M9VPkyEkbyIzk+80ju4vMuGTzyucRe9GujSPYlYDjwTEUC9JO4lPJRoDksESxOGlGgSdJRSlHUu", "achieved_goal": "[[ 0.62864816 -0.2813651   0.20880106]\n [-0.26908395  0.91626287  0.20879942]\n [ 0.23445077  0.6990204   0.20879339]\n [ 1.0174878  -0.33868805  0.20880103]]", "desired_goal": "[[ 0.19659692 -1.6095237  -0.21507011]\n [-1.1429325  -0.13603592 -1.0648428 ]\n [ 1.2804691  -0.8174139  -0.34623316]\n [ 1.5712186   0.9049244  -0.0446703 ]]", "observation": "[[ 0.27949664  0.5919333  -0.50543237 -0.09124497  0.27096125  1.3902493\n   0.60222334  0.62864816 -0.2813651   0.20880106 -0.01776323 -0.01268291\n  -0.02244574  0.01266551 -0.03697362  0.10298154  0.00868796 -0.04689599\n   0.0101276 ]\n [ 0.49340883  0.6015228  -0.57122546 -0.05363398  0.4070847   0.11251158\n  -0.8747522  -0.26908395  0.91626287  0.20879942 -0.0177517  -0.01274024\n   0.43920943  0.01269178 -0.03695691  0.10298128  0.00868808 -0.04689427\n   0.01017678]\n [ 1.1567886   0.3792417   0.4696066   0.0160239  -0.5625621  -1.9333596\n   0.92649823  0.23445077  0.6990204   0.20879339 -0.01777437 -0.0125207\n  -0.0225121   0.01267073 -0.0370427   0.10298128  0.00868808 -0.04689427\n   0.01008792]\n [ 1.0991186   0.04026641 -0.08749811 -0.3667633   1.9482082  -1.6561146\n  -1.1237425   1.0174878  -0.33868805  0.20880103 -0.01776328 -0.01268352\n  -0.02248946  0.01266641 -0.03697365  0.10298176  0.0086881  -0.04689128\n   0.01012758]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVeAAAAAAAAACME251bXB5Ll9jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWBAAAAAAAAAABAQEBlIwFbnVtcHmUjAVkdHlwZZSTlIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksEhZSMAUOUdJRSlC4="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVjAIAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYwAAAAAAAAAOX2qz1s0Ce9EcKjPBxIJr1PARQ+zsGjPIXJ7zxzGOM91sCjPNM6DT7ELky9EMKjPJSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGJLBEsDhpSMAUOUdJRSlIwMZGVzaXJlZF9nb2FslGgHKJYwAAAAAAAAAKHqgzzZ2Q6+z2+dPQofzL1VqTG8CtejPNXT4D3ZDZC9X3WLPT0lCj7E8KM9C8u0PZRoDksESwOGlGgSdJRSlIwLb2JzZXJ2YXRpb26UaAcoljABAAAAAAAAwnNMPUrm0j0KoGQ8K0SkvWcH8T28SAs/Yh12PeX2qz1s0Ce9EcKjPLALfzFfslszWnift1cKP7NF1l0x+OZMM2RPLbQVQBW2pdPEqILFrj1xddY91UO7O3rxi72lDTo+ZzUFu/UEDjwcSCa9TwEUPs7BozwOPJw2g1lYt4c3sT5uBGs29x0yNtih36xdgbEvNNLgr+wm+zi330c+UvWDPftSCz6Fyj29QmaMvuFeYL9tLZI9hcnvPHMY4z3WwKM8jZiWthrWGTiPNZC4vjsxNR/EN7cAjNKsfNWTrk8KwS/Fpcq4Shg+PpWuRDs9xIc90TgrvlgDaD8iCUK/jzzksdM6DT7ELky9EMKjPNOGebLWoLmzGTpZuFnZpzNG55GwW2S9M8OI9TLZKoE2AiqAs5RoDksESxOGlGgSdJRSlHUu", "achieved_goal": "[[ 0.08396701 -0.04097025  0.01999   ]\n [-0.04059611  0.14453624  0.01998987]\n [ 0.0292709   0.11088648  0.01998941]\n [ 0.13791971 -0.04984929  0.01999   ]]", "desired_goal": "[[ 0.01610309 -0.1395029   0.07687341]\n [-0.09966858 -0.01084359  0.02      ]\n [ 0.10977904 -0.07033891  0.06809496]\n [ 0.13490768  0.08004907  0.0882779 ]]", "observation": "[[ 4.99150828e-02  1.02978304e-01  1.39541719e-02 -8.02081451e-02\n   1.17689900e-01  5.44078588e-01  6.00866154e-02  8.39670077e-02\n  -4.09702510e-02  1.99899990e-02  3.71140274e-09  5.11521385e-08\n  -1.90103201e-05 -4.44800570e-08  3.22815308e-09  4.77075162e-08\n  -1.61407627e-07 -2.22400308e-06 -2.18521575e-14]\n [ 8.53376538e-02  1.04716189e-01  5.71487332e-03 -6.83316737e-02\n   1.81692675e-01 -2.03260197e-03  8.66817404e-03 -4.05961126e-02\n   1.44536242e-01  1.99898742e-02  4.65615358e-06 -1.28954443e-05\n   3.46126765e-01  3.50203072e-06  2.65415088e-06 -6.35600947e-12\n   3.22880306e-10 -4.08947209e-10  1.19758624e-04]\n [ 1.95189342e-01  6.44327551e-02  1.36058733e-01 -4.63357158e-02\n  -2.74217665e-01 -8.76447737e-01  7.13757053e-02  2.92708967e-02\n   1.10886477e-01  1.99894123e-02 -4.48810761e-06  3.66774402e-05\n  -6.87643114e-05  6.60245746e-07 -1.09533130e-05 -5.98410210e-12\n  -6.72270850e-11  3.51138202e-10 -9.66298758e-05]\n [ 1.85639530e-01  3.00112856e-03  6.62922636e-02 -1.67208925e-01\n   9.06301022e-01 -7.57951856e-01 -6.64255806e-09  1.37919709e-01\n  -4.98492867e-02  1.99899971e-02 -1.45243630e-08 -8.64398970e-08\n  -5.17909393e-05  7.81607881e-08 -1.06158704e-09  8.81925288e-08\n   2.85839459e-08  3.84948771e-06 -5.96810565e-08]]"}, "_episode_num": 2057, "use_sde": false, "sde_sample_freq": -1, "_current_progress_remaining": 0.0, "_stats_window_size": 100, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVhgAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKUKImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiImJiYmJiImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYllLg=="}, "_n_updates": 24975, "buffer_size": 1000000, "batch_size": 256, "learning_starts": 100, "tau": 0.005, "gamma": 0.99, "gradient_steps": 1, "optimize_memory_usage": false, "replay_buffer_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVOQAAAAAAAACMIHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5idWZmZXJzlIwQRGljdFJlcGxheUJ1ZmZlcpSTlC4=", "__module__": "stable_baselines3.common.buffers", "__annotations__": "{'observation_space': <class 'gymnasium.spaces.dict.Dict'>, 'obs_shape': dict[str, tuple[int, ...]], 'observations': dict[str, numpy.ndarray], 'next_observations': dict[str, numpy.ndarray]}", "__doc__": "\n    Dict Replay buffer used in off-policy algorithms like SAC/TD3.\n    Extends the ReplayBuffer to use dictionary observations\n\n    :param buffer_size: Max number of element in the buffer\n    :param observation_space: Observation space\n    :param action_space: Action space\n    :param device: PyTorch device\n    :param n_envs: Number of parallel environments\n    :param optimize_memory_usage: Enable a memory efficient variant\n        Disabled for now (see https://github.com/DLR-RM/stable-baselines3/pull/243#discussion_r531535702)\n    :param handle_timeout_termination: Handle timeout termination (due to timelimit)\n        separately and treat the task as infinite horizon task.\n        https://github.com/DLR-RM/stable-baselines3/issues/284\n    ", "__init__": "<function DictReplayBuffer.__init__ at 0x7842dae06840>", "add": "<function DictReplayBuffer.add at 0x7842dae06980>", "sample": "<function DictReplayBuffer.sample at 0x7842dae06a20>", "_get_samples": "<function DictReplayBuffer._get_samples at 0x7842dae06ac0>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7842daf2dd00>"}, "replay_buffer_kwargs": {}, "n_steps": 1, "train_freq": {":type:": "<class 'stable_baselines3.common.type_aliases.TrainFreq'>", ":serialized:": "gAWVYQAAAAAAAACMJXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi50eXBlX2FsaWFzZXOUjAlUcmFpbkZyZXGUk5RLAWgAjBJUcmFpbkZyZXF1ZW5jeVVuaXSUk5SMBHN0ZXCUhZRSlIaUgZQu"}, "use_sde_at_warmup": false, "target_entropy": -4.0, "ent_coef": "auto", "target_update_interval": 1, "observation_space": {":type:": "<class 'gymnasium.spaces.dict.Dict'>", ":serialized:": "gAWVFAQAAAAAAACMFWd5bW5hc2l1bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5R9lCiMDWFjaGlldmVkX2dvYWyUjBRneW1uYXNpdW0uc3BhY2VzLmJveJSMA0JveJSTlCmBlH2UKIwFZHR5cGWUjAVudW1weZSMBWR0eXBllJOUjAJmNJSJiIeUUpQoSwOMATyUTk5OSv////9K/////0sAdJRijAZfc2hhcGWUSwOFlIwDbG93lIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoE0sDhZSMAUOUdJRSlIwNYm91bmRlZF9iZWxvd5RoGyiWAwAAAAAAAAABAQGUaBCMAmIxlImIh5RSlChLA4wBfJROTk5K/////0r/////SwB0lGJLA4WUaB50lFKUjARoaWdolGgbKJYMAAAAAAAAAAAAIEEAACBBAAAgQZRoE0sDhZRoHnSUUpSMDWJvdW5kZWRfYWJvdmWUaBsolgMAAAAAAAAAAQEBlGglSwOFlGgedJRSlIwIbG93X3JlcHKUjAUtMTAuMJSMCWhpZ2hfcmVwcpSMBDEwLjCUjApfbnBfcmFuZG9tlE51YowMZGVzaXJlZF9nb2FslGgKKYGUfZQoaA1oE2gWSwOFlGgYaBsolgwAAAAAAAAAAAAgwQAAIMEAACDBlGgTSwOFlGgedJRSlGghaBsolgMAAAAAAAAAAQEBlGglSwOFlGgedJRSlGgraBsolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgTSwOFlGgedJRSlGgwaBsolgMAAAAAAAAAAQEBlGglSwOFlGgedJRSlGg1jAUtMTAuMJRoN4wEMTAuMJRoOU51YowLb2JzZXJ2YXRpb26UaAopgZR9lChoDWgTaBZLE4WUaBhoGyiWTAAAAAAAAAAAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBlGgTSxOFlGgedJRSlGghaBsolhMAAAAAAAAAAQEBAQEBAQEBAQEBAQEBAQEBAZRoJUsThZRoHnSUUpRoK2gbKJZMAAAAAAAAAAAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEGUaBNLE4WUaB50lFKUaDBoGyiWEwAAAAAAAAABAQEBAQEBAQEBAQEBAQEBAQEBlGglSxOFlGgedJRSlGg1jAUtMTAuMJRoN4wEMTAuMJRoOU51YnVoFk5oDU5oOU51Yi4=", "spaces": "{'achieved_goal': Box(-10.0, 10.0, (3,), float32), 'desired_goal': Box(-10.0, 10.0, (3,), float32), 'observation': Box(-10.0, 10.0, (19,), float32)}", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gymnasium.spaces.box.Box'>", ":serialized:": "gAWVSgMAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMBl9zaGFwZZRLBIWUjANsb3eUjBNudW1weS5fY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolhAAAAAAAAAAAACAvwAAgL8AAIC/AACAv5RoC0sEhZSMAUOUdJRSlIwNYm91bmRlZF9iZWxvd5RoEyiWBAAAAAAAAAABAQEBlGgIjAJiMZSJiIeUUpQoSwOMAXyUTk5OSv////9K/////0sAdJRiSwSFlGgWdJRSlIwEaGlnaJRoEyiWEAAAAAAAAAAAAIA/AACAPwAAgD8AAIA/lGgLSwSFlGgWdJRSlIwNYm91bmRlZF9hYm92ZZRoEyiWBAAAAAAAAAABAQEBlGgdSwSFlGgWdJRSlIwIbG93X3JlcHKUjAQtMS4wlIwJaGlnaF9yZXBylIwDMS4wlIwKX25wX3JhbmRvbZSMFG51bXB5LnJhbmRvbS5fcGlja2xllIwQX19nZW5lcmF0b3JfY3RvcpSTlGgyjBRfX2JpdF9nZW5lcmF0b3JfY3RvcpSTlIwTbnVtcHkucmFuZG9tLl9wY2c2NJSMBVBDRzY0lJOUhZRSlH2UKIwNYml0X2dlbmVyYXRvcpSMBVBDRzY0lIwFc3RhdGWUfZQoaD+KEYvjIZ1pCDBob05Nf1T9SaEAjANpbmOUihD9XOgp1Md8wnUEnRtN9MEkdYwKaGFzX3VpbnQzMpRLAIwIdWludGVnZXKUSwB1jBpudW1weS5yYW5kb20uYml0X2dlbmVyYXRvcpSMG19fcHl4X3VucGlja2xlX1NlZWRTZXF1ZW5jZZSTlGhEjAxTZWVkU2VxdWVuY2WUk5RKIqLqA06HlFKUKIoQ1w2coGZ/Hp9Cot/hbsszUUsAaBMolhAAAAAAAAAAebJIkEdocS2fP8wotYSUy5RoCIwCdTSUiYiHlFKUKEsDaAxOTk5K/////0r/////SwB0lGJLBIWUaBZ0lFKUSwQpdJRihpRihZRSlHViLg==", "dtype": "float32", "_shape": [4], "low": "[-1. -1. -1. -1.]", "bounded_below": "[ True  True  True  True]", "high": "[1. 1. 1. 1.]", "bounded_above": "[ True  True  True  True]", "low_repr": "-1.0", "high_repr": "1.0", "_np_random": "Generator(PCG64)"}, "n_envs": 4, "lr_schedule": {":type:": "<class 'stable_baselines3.common.utils.FloatSchedule'>", ":serialized:": "gAWVeQAAAAAAAACMHnN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi51dGlsc5SMDUZsb2F0U2NoZWR1bGWUk5QpgZR9lIwOdmFsdWVfc2NoZWR1bGWUaACMEENvbnN0YW50U2NoZWR1bGWUk5QpgZR9lIwDdmFslEc/M6kqMFUyYXNic2Iu", "value_schedule": "ConstantSchedule(val=0.0003)"}, "batch_norm_stats": [], "batch_norm_stats_target": [], "system_info": {"OS": "Linux-6.6.105+-x86_64-with-glibc2.35 # 1 SMP Thu Oct  2 10:42:05 UTC 2025", "Python": "3.12.12", "Stable-Baselines3": "2.7.0", "PyTorch": "2.8.0+cu126", "GPU Enabled": "False", "Numpy": "2.0.2", "Cloudpickle": "3.1.1", "Gymnasium": "1.2.1", "OpenAI Gym": "0.25.2"}}
+{"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVNwAAAAAAAACMHnN0YWJsZV9iYXNlbGluZXMzLnNhYy5wb2xpY2llc5SMEE11bHRpSW5wdXRQb2xpY3mUk5Qu", "__module__": "stable_baselines3.sac.policies", "__doc__": "\n    Policy class (with both actor and critic) for SAC.\n\n    :param observation_space: Observation space\n    :param action_space: Action space\n    :param lr_schedule: Learning rate schedule (could be constant)\n    :param net_arch: The specification of the policy and value networks.\n    :param activation_fn: Activation function\n    :param use_sde: Whether to use State Dependent Exploration or not\n    :param log_std_init: Initial value for the log standard deviation\n    :param use_expln: Use ``expln()`` function instead of ``exp()`` when using gSDE to ensure\n        a positive standard deviation (cf paper). It allows to keep variance\n        above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n    :param clip_mean: Clip the mean output when using gSDE to avoid numerical instability.\n    :param features_extractor_class: Features extractor to use.\n    :param normalize_images: Whether to normalize images or not,\n         dividing by 255.0 (True by default)\n    :param optimizer_class: The optimizer to use,\n        ``th.optim.Adam`` by default\n    :param optimizer_kwargs: Additional keyword arguments,\n        excluding the learning rate, to pass to the optimizer\n    :param n_critics: Number of critic networks to create.\n    :param share_features_extractor: Whether to share or not the features extractor\n        between the actor and the critic (this saves computation time)\n    ", "__init__": "<function MultiInputPolicy.__init__ at 0x7842dad45260>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7842dad42bc0>"}, "verbose": 1, "policy_kwargs": {"use_sde": false}, "num_timesteps": 1000000, "_total_timesteps": 1000000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1760759091523584546, "learning_rate": 0.0003, "tensorboard_log": null, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVjAIAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYwAAAAAAAAAMnO6z7L46M/n9iEPRPiJT9pfRg/OcuEPWXs3b5XnmI/DceEPbz+sD6rTPG+ON2EPZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGJLBEsDhpSMAUOUdJRSlIwMZGVzaXJlZF9nb2FslGgHKJYwAAAAAAAAAPet1j4q65+/gr75Pc2tZr78L3S/FTSJvwkz9r5f6N+9cr4+PtNUZr8+Asw+FTSJv5RoDksESwOGlGgSdJRSlIwLb2JzZXJ2YXRpb26UaAcoljABAAAAAAAA9lAVP1nNjr0fZII+OdDDPmSl4b+kgsw+e0epP8nO6z7L46M/n9iEPUs9Pbynmui7jE1dO/hGtTzTqII73M/4PMvDxTpi7xG8vTKbuyZLtT5nemU+uHu3vNpm7D7w5/89vxajPnDyOD0T4iU/aX0YPznLhD2yfze8xU7bu28DYzs2tKY85eiAO1My/Dw5r/Y6f8aCvE2ymrvpS2o/w2Q/P2l0X78s9/E9JGTyPpyDsrzYSak/ZezdvleeYj8Nx4Q9ASg1vGcn37v42zQ774OrPFvtkTs/tvs8omKOuhKsUbyWo5q7CUuxPvklhL7X+WG/6bQAvlb2W78loqw7rlqpP7z+sD6rTPG+ON2EPTu+PLzaSeK7qHwSvjNLj7+EbWA9oc/7PJEjhrpklVG8Xv2Jv5RoDksESxOGlGgSdJRSlHUu", "achieved_goal": "[[ 0.46056202  1.2803892   0.0648663 ]\n [ 0.64798087  0.5956636   0.06484074]\n [-0.43344417  0.8852286   0.06483278]\n [ 0.34569347 -0.47128806  0.06487507]]", "desired_goal": "[[ 0.419296   -1.2493641   0.1219454 ]\n [-0.22527237 -0.9538572  -1.0719019 ]\n [-0.48085812 -0.10932993  0.18627337]\n [-0.8997318   0.3984546  -1.0719019 ]]", "observation": "[[ 5.83266616e-01 -6.97276071e-02  2.54670113e-01  3.82447988e-01\n  -1.76285982e+00  3.99434209e-01  1.32249391e+00  4.60562021e-01\n   1.28038919e+00  6.48662969e-02 -1.15502579e-02 -7.09851412e-03\n   3.37681454e-03  2.21285671e-02  3.98741057e-03  3.03725526e-02\n   1.50882581e-03 -8.90717097e-03 -4.73627308e-03]\n [ 3.54088962e-01  2.24099740e-01 -2.23978609e-02  4.61722195e-01\n   1.24954104e-01  3.18532914e-01  4.51530814e-02  6.47980869e-01\n   5.95663607e-01  6.48407415e-02 -1.11998785e-02 -6.69273967e-03\n   3.46394978e-03  2.03496031e-02  3.93401319e-03  3.07857152e-02\n   1.88205310e-03 -1.59637909e-02 -4.72096214e-03]\n [ 9.15220797e-01  7.47631252e-01 -8.72870028e-01  1.18147224e-01\n   4.73420262e-01 -2.17912719e-02  1.32256603e+00 -4.33444172e-01\n   8.85228574e-01  6.48327842e-02 -1.10569010e-02 -6.81011705e-03\n   2.75969319e-03  2.09369343e-02  4.45334380e-03  3.07265501e-02\n  -1.08631351e-03 -1.27973724e-02 -4.71920799e-03]\n [ 3.46275598e-01 -2.58102208e-01 -8.82718503e-01 -1.25690117e-01\n  -8.59227538e-01  5.26835257e-03  1.32307982e+00  3.45693469e-01\n  -4.71288055e-01  6.48750663e-02 -1.15199639e-02 -6.90577645e-03\n  -1.43053651e-01 -1.11948240e+00  5.47919422e-02  3.07386536e-02\n  -1.02339883e-03 -1.27919652e-02 -1.07804465e+00]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVeAAAAAAAAACME251bXB5Ll9jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWBAAAAAAAAAABAQEBlIwFbnVtcHmUjAVkdHlwZZSTlIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksEhZSMAUOUdJRSlC4="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVjAIAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYwAAAAAAAAAFcTLD0nhf49k8GjPFKkdT0dT249O8CjPNPXMr1JZrA90L+jPE75/TyVjDe9CcKjPJSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGJLBEsDhpSMAUOUdJRSlIwMZGVzaXJlZF9nb2FslGgHKJYwAAAAAAAAAJYTFj2eTN+9C63LPVLbnbzkXaq9CtejPOG7Kb36uhi8jXHUPcpGn70Luw89CtejPJRoDksESwOGlGgSdJRSlIwLb2JzZXJ2YXRpb26UaAcoljABAAAAAAAAwO3tPbUsnr0prHs+CJMiPSTMLr9fLRs+2M2jPVcTLD0nhf49k8GjPNMXq7ZFnp63jHwPuDeFLzjdFuC305motwVanDrrZPY6KPwOuXA2iD0oVvM4Ca0/Pgt6cz0gvpE8C0r6PUl6CD1SpHU9HU9uPTvAozxi20E41sKtN40o+7b8KVW4a5j3t65tYTZ51rI6TI3IuqBU/7hMoUA+4D4NPhRx8Ds9T9a8XKQWPnCfmLo6z6M909cyvUlmsD3Qv6M8W9iMOJg6GzfQVmq5JK2ptxbYF7bwpU6sFhpML7P/XC7m0fu4rb6EPezdAb7sMqw7BQCyvUTlsb5KpQ08EdmjPU75/TyVjDe9CcKjPJCxMbVZDr6zNxg4vYdpc70u+Sw79nc4NXiX8jc9Vi82JB2Dv5RoDksESxOGlGgSdJRSlHUu", "achieved_goal": "[[ 0.04201063  0.12427741  0.01998976]\n [ 0.05997116  0.05818092  0.01998912]\n [-0.04366286  0.08613259  0.01998892]\n [ 0.03100267 -0.0448118   0.01998998]]", "desired_goal": "[[ 0.03663977 -0.10903285  0.09945115]\n [-0.01926962 -0.08318689  0.02      ]\n [-0.04143894 -0.00932192  0.10373221]\n [-0.07777174  0.03509049  0.02      ]]", "observation": "[[ 1.16176128e-01 -7.72337094e-02  2.45773926e-01  3.96910012e-02\n  -6.82802439e-01  1.51540264e-01  7.99824595e-02  4.20106314e-02\n   1.24277405e-01  1.99897643e-02 -5.09897063e-06 -1.89087677e-05\n  -3.42098501e-05  4.18473173e-05 -2.67135274e-05 -2.00987906e-05\n   1.19286834e-03  1.87983864e-03 -1.36361108e-04]\n [ 6.65100813e-02  1.16031908e-04  1.87183514e-01  5.94425611e-02\n   1.77908540e-02  1.22211538e-01  3.33197452e-02  5.99711612e-02\n   5.81809171e-02  1.99891236e-02  4.62191019e-05  2.07139346e-05\n  -7.48510365e-06 -5.08222583e-05 -2.95156697e-05  3.35914547e-06\n   1.36442401e-03 -1.53008988e-03 -1.21751102e-04]\n [ 1.88115299e-01  1.37935162e-01  7.33769871e-03 -2.61608306e-02\n   1.47111356e-01 -1.16441958e-03  7.99850971e-02 -4.36628573e-02\n   8.61325935e-02  1.99889243e-02  6.71601956e-05  9.25236236e-06\n  -2.23483192e-04 -2.02269948e-05 -2.26265320e-06 -2.93664745e-12\n   1.85629595e-10  5.02493151e-11 -1.20077093e-04]\n [ 6.48168102e-02 -1.26823127e-01  5.25509380e-03 -8.69140998e-02\n  -3.47452283e-01  8.64536501e-03  8.00038651e-02  3.10026668e-02\n  -4.48118038e-02  1.99899841e-02 -6.61960257e-07 -8.85017428e-08\n  -4.49449681e-02 -5.94268106e-02  2.63936399e-03  6.87199076e-07\n   2.89191812e-05  2.61272294e-06 -1.02432680e+00]]"}, "_episode_num": 20689, "use_sde": false, "sde_sample_freq": -1, "_current_progress_remaining": 0.0, "_stats_window_size": 100, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVhgAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKUKImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmIiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYllLg=="}, "_n_updates": 249975, "buffer_size": 1000000, "batch_size": 256, "learning_starts": 100, "tau": 0.005, "gamma": 0.99, "gradient_steps": 1, "optimize_memory_usage": false, "replay_buffer_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVOQAAAAAAAACMIHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5idWZmZXJzlIwQRGljdFJlcGxheUJ1ZmZlcpSTlC4=", "__module__": "stable_baselines3.common.buffers", "__annotations__": "{'observation_space': <class 'gymnasium.spaces.dict.Dict'>, 'obs_shape': dict[str, tuple[int, ...]], 'observations': dict[str, numpy.ndarray], 'next_observations': dict[str, numpy.ndarray]}", "__doc__": "\n    Dict Replay buffer used in off-policy algorithms like SAC/TD3.\n    Extends the ReplayBuffer to use dictionary observations\n\n    :param buffer_size: Max number of element in the buffer\n    :param observation_space: Observation space\n    :param action_space: Action space\n    :param device: PyTorch device\n    :param n_envs: Number of parallel environments\n    :param optimize_memory_usage: Enable a memory efficient variant\n        Disabled for now (see https://github.com/DLR-RM/stable-baselines3/pull/243#discussion_r531535702)\n    :param handle_timeout_termination: Handle timeout termination (due to timelimit)\n        separately and treat the task as infinite horizon task.\n        https://github.com/DLR-RM/stable-baselines3/issues/284\n    ", "__init__": "<function DictReplayBuffer.__init__ at 0x7842dae06840>", "add": "<function DictReplayBuffer.add at 0x7842dae06980>", "sample": "<function DictReplayBuffer.sample at 0x7842dae06a20>", "_get_samples": "<function DictReplayBuffer._get_samples at 0x7842dae06ac0>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7842daf2dd00>"}, "replay_buffer_kwargs": {}, "n_steps": 1, "train_freq": {":type:": "<class 'stable_baselines3.common.type_aliases.TrainFreq'>", ":serialized:": "gAWVYQAAAAAAAACMJXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi50eXBlX2FsaWFzZXOUjAlUcmFpbkZyZXGUk5RLAWgAjBJUcmFpbkZyZXF1ZW5jeVVuaXSUk5SMBHN0ZXCUhZRSlIaUgZQu"}, "use_sde_at_warmup": false, "target_entropy": -4.0, "ent_coef": "auto", "target_update_interval": 1, "observation_space": {":type:": "<class 'gymnasium.spaces.dict.Dict'>", ":serialized:": "gAWVFAQAAAAAAACMFWd5bW5hc2l1bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5R9lCiMDWFjaGlldmVkX2dvYWyUjBRneW1uYXNpdW0uc3BhY2VzLmJveJSMA0JveJSTlCmBlH2UKIwFZHR5cGWUjAVudW1weZSMBWR0eXBllJOUjAJmNJSJiIeUUpQoSwOMATyUTk5OSv////9K/////0sAdJRijAZfc2hhcGWUSwOFlIwDbG93lIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoE0sDhZSMAUOUdJRSlIwNYm91bmRlZF9iZWxvd5RoGyiWAwAAAAAAAAABAQGUaBCMAmIxlImIh5RSlChLA4wBfJROTk5K/////0r/////SwB0lGJLA4WUaB50lFKUjARoaWdolGgbKJYMAAAAAAAAAAAAIEEAACBBAAAgQZRoE0sDhZRoHnSUUpSMDWJvdW5kZWRfYWJvdmWUaBsolgMAAAAAAAAAAQEBlGglSwOFlGgedJRSlIwIbG93X3JlcHKUjAUtMTAuMJSMCWhpZ2hfcmVwcpSMBDEwLjCUjApfbnBfcmFuZG9tlE51YowMZGVzaXJlZF9nb2FslGgKKYGUfZQoaA1oE2gWSwOFlGgYaBsolgwAAAAAAAAAAAAgwQAAIMEAACDBlGgTSwOFlGgedJRSlGghaBsolgMAAAAAAAAAAQEBlGglSwOFlGgedJRSlGgraBsolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgTSwOFlGgedJRSlGgwaBsolgMAAAAAAAAAAQEBlGglSwOFlGgedJRSlGg1jAUtMTAuMJRoN4wEMTAuMJRoOU51YowLb2JzZXJ2YXRpb26UaAopgZR9lChoDWgTaBZLE4WUaBhoGyiWTAAAAAAAAAAAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBlGgTSxOFlGgedJRSlGghaBsolhMAAAAAAAAAAQEBAQEBAQEBAQEBAQEBAQEBAZRoJUsThZRoHnSUUpRoK2gbKJZMAAAAAAAAAAAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEGUaBNLE4WUaB50lFKUaDBoGyiWEwAAAAAAAAABAQEBAQEBAQEBAQEBAQEBAQEBlGglSxOFlGgedJRSlGg1jAUtMTAuMJRoN4wEMTAuMJRoOU51YnVoFk5oDU5oOU51Yi4=", "spaces": "{'achieved_goal': Box(-10.0, 10.0, (3,), float32), 'desired_goal': Box(-10.0, 10.0, (3,), float32), 'observation': Box(-10.0, 10.0, (19,), float32)}", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gymnasium.spaces.box.Box'>", ":serialized:": "gAWVSQMAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMBl9zaGFwZZRLBIWUjANsb3eUjBNudW1weS5fY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolhAAAAAAAAAAAACAvwAAgL8AAIC/AACAv5RoC0sEhZSMAUOUdJRSlIwNYm91bmRlZF9iZWxvd5RoEyiWBAAAAAAAAAABAQEBlGgIjAJiMZSJiIeUUpQoSwOMAXyUTk5OSv////9K/////0sAdJRiSwSFlGgWdJRSlIwEaGlnaJRoEyiWEAAAAAAAAAAAAIA/AACAPwAAgD8AAIA/lGgLSwSFlGgWdJRSlIwNYm91bmRlZF9hYm92ZZRoEyiWBAAAAAAAAAABAQEBlGgdSwSFlGgWdJRSlIwIbG93X3JlcHKUjAQtMS4wlIwJaGlnaF9yZXBylIwDMS4wlIwKX25wX3JhbmRvbZSMFG51bXB5LnJhbmRvbS5fcGlja2xllIwQX19nZW5lcmF0b3JfY3RvcpSTlGgyjBRfX2JpdF9nZW5lcmF0b3JfY3RvcpSTlIwTbnVtcHkucmFuZG9tLl9wY2c2NJSMBVBDRzY0lJOUhZRSlH2UKIwNYml0X2dlbmVyYXRvcpSMBVBDRzY0lIwFc3RhdGWUfZQoaD+KEEfi6E/CQ2bl4OP/qGy+k2qMA2luY5SKEKUog9re56RLCq/8i3fhMQ51jApoYXNfdWludDMylEsAjAh1aW50ZWdlcpRLAHWMGm51bXB5LnJhbmRvbS5iaXRfZ2VuZXJhdG9ylIwbX19weXhfdW5waWNrbGVfU2VlZFNlcXVlbmNllJOUaESMDFNlZWRTZXF1ZW5jZZSTlEoiouoDToeUUpQoihBu3j9ufwIV1Eo2Fl6E5lEFSwBoEyiWEAAAAAAAAACuj75/HpvjT1ZtV/UQ+oCSlGgIjAJ1NJSJiIeUUpQoSwNoDE5OTkr/////Sv////9LAHSUYksEhZRoFnSUUpRLBCl0lGKGlGKFlFKUdWIu", "dtype": "float32", "_shape": [4], "low": "[-1. -1. -1. -1.]", "bounded_below": "[ True  True  True  True]", "high": "[1. 1. 1. 1.]", "bounded_above": "[ True  True  True  True]", "low_repr": "-1.0", "high_repr": "1.0", "_np_random": "Generator(PCG64)"}, "n_envs": 4, "lr_schedule": {":type:": "<class 'stable_baselines3.common.utils.FloatSchedule'>", ":serialized:": "gAWVeQAAAAAAAACMHnN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi51dGlsc5SMDUZsb2F0U2NoZWR1bGWUk5QpgZR9lIwOdmFsdWVfc2NoZWR1bGWUaACMEENvbnN0YW50U2NoZWR1bGWUk5QpgZR9lIwDdmFslEc/M6kqMFUyYXNic2Iu", "value_schedule": "ConstantSchedule(val=0.0003)"}, "batch_norm_stats": [], "batch_norm_stats_target": [], "system_info": {"OS": "Linux-6.6.105+-x86_64-with-glibc2.35 # 1 SMP Thu Oct  2 10:42:05 UTC 2025", "Python": "3.12.12", "Stable-Baselines3": "2.7.0", "PyTorch": "2.8.0+cu126", "GPU Enabled": "False", "Numpy": "2.0.2", "Cloudpickle": "3.1.1", "Gymnasium": "1.2.1", "OpenAI Gym": "0.25.2"}}

replay.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cde22b98ce9ac627d5d4f0aa2cbc616cd6f415ac59fbe625caa570263339c6e4
-size 675839
+oid sha256:a70d9f870e784b348cac7fec393536759f1246c558e4b162556cec47fa6955b0
+size 582809

results.json

@@ -1 +1 @@
-{"mean_reward": -45.0, "std_reward": 15.0, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2025-10-18T03:32:16.071657"}
+{"mean_reward": -48.683, "std_reward": 7.906105931493708, "is_deterministic": true, "n_eval_episodes": 1000, "eval_datetime": "2025-10-18T07:28:59.372692"}

sac-PandaPickAndPlace-v3.zip

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:72ddff4c0f34ec5f3eff9387ca1da90af98755cf94a8649ab279131219b5393b
-size 3305997
+oid sha256:8f3122129d1f8ccd93d24b52428847609af5bbeb84664c69ddc6416194d544ac
+size 3306317

sac-PandaPickAndPlace-v3/actor.optimizer.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e5568d049f1dc78ed1ed9ff15295d3221e2430fdf14d031d738973ee5c4afbc8
+oid sha256:c37f38d4fd5a246dbee43f8de090fa0a4e50288796204e700163634fc51e2fea
 size 603099

sac-PandaPickAndPlace-v3/critic.optimizer.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:83ced77fe15c9eadee7308c4218adefed11fb6df8828834c4ea49e2e6fdee0c8
+oid sha256:277822f504bee5b543875de69b95c7a5b8a08ae4f8d7df10516e13ac5e3b7b59
 size 1189751

sac-PandaPickAndPlace-v3/data

@@ -12,20 +12,20 @@
     "policy_kwargs": {
         "use_sde": false
     },
-    "num_timesteps": 100000,
-    "_total_timesteps": 100000,
+    "num_timesteps": 1000000,
+    "_total_timesteps": 1000000,
     "_num_timesteps_at_start": 0,
     "seed": null,
     "action_noise": null,
-    "start_time": 1760757093400978245,
+    "start_time": 1760759091523584546,
     "learning_rate": 0.0003,
     "tensorboard_log": null,
     "_last_obs": {
         ":type:": "<class 'collections.OrderedDict'>",
-        ":serialized:": "gAWVjAIAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYwAAAAAAAAABbvID8WD5C+8s9VPl/Fib40kGo/hM9VPt0TcD4A8zI/781VPgo9gj+FaK2+8M9VPpSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGJLBEsDhpSMAUOUdJRSlIwMZGVzaXJlZF9nb2FslGgHKJYwAAAAAAAAALRQST7fBM6/Vztcvp1Lkr8ATQu+xUyIv2nmoz8KQlG/eUWxvrEdyT8gqWc/NPg2vZRoDksESwOGlGgSdJRSlIwLb2JzZXJ2YXRpb26UaAcoljABAAAAAAAALxqPPvGIFz8EZAG/pN66vW+7ij6w87E/TysaPxbvID8WD5C+8s9VPjOEkbz5y0+8IuC3vPuCTzymcRe9/OfSPfNXDjwDFkC9Pu4lPBWg/D5m/Rk/1TsSv02vW71obdA+eGzmPcPvX79fxYm+NJBqP4TPVT4BbJG8dbxQvA/g4D4r8U88IGAXvdnn0j1yWA48NBRAvYS8JjymEZQ/+CvCPkdw8D6MRIM8EgQQv1R497/9Lm0/3RNwPgDzMj/vzVU+kJuRvKMjTbxLa7i84JhPPBW6F73Z59I9clgOPDQUQL3PRyU866+MP2TuJD02MrO9Zsi7vuNe+T+Q+9O/y9aPvwo9gj+FaK2+8M9VPkyEkbyIzk+80ju4vMuGTzyucRe9GujSPYlYDjwTEUC9JO4lPJRoDksESxOGlGgSdJRSlHUu",
-        "achieved_goal": "[[ 0.62864816 -0.2813651   0.20880106]\n [-0.26908395  0.91626287  0.20879942]\n [ 0.23445077  0.6990204   0.20879339]\n [ 1.0174878  -0.33868805  0.20880103]]",
-        "desired_goal": "[[ 0.19659692 -1.6095237  -0.21507011]\n [-1.1429325  -0.13603592 -1.0648428 ]\n [ 1.2804691  -0.8174139  -0.34623316]\n [ 1.5712186   0.9049244  -0.0446703 ]]",
-        "observation": "[[ 0.27949664  0.5919333  -0.50543237 -0.09124497  0.27096125  1.3902493\n   0.60222334  0.62864816 -0.2813651   0.20880106 -0.01776323 -0.01268291\n  -0.02244574  0.01266551 -0.03697362  0.10298154  0.00868796 -0.04689599\n   0.0101276 ]\n [ 0.49340883  0.6015228  -0.57122546 -0.05363398  0.4070847   0.11251158\n  -0.8747522  -0.26908395  0.91626287  0.20879942 -0.0177517  -0.01274024\n   0.43920943  0.01269178 -0.03695691  0.10298128  0.00868808 -0.04689427\n   0.01017678]\n [ 1.1567886   0.3792417   0.4696066   0.0160239  -0.5625621  -1.9333596\n   0.92649823  0.23445077  0.6990204   0.20879339 -0.01777437 -0.0125207\n  -0.0225121   0.01267073 -0.0370427   0.10298128  0.00868808 -0.04689427\n   0.01008792]\n [ 1.0991186   0.04026641 -0.08749811 -0.3667633   1.9482082  -1.6561146\n  -1.1237425   1.0174878  -0.33868805  0.20880103 -0.01776328 -0.01268352\n  -0.02248946  0.01266641 -0.03697365  0.10298176  0.0086881  -0.04689128\n   0.01012758]]"
+        ":serialized:": "gAWVjAIAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYwAAAAAAAAAMnO6z7L46M/n9iEPRPiJT9pfRg/OcuEPWXs3b5XnmI/DceEPbz+sD6rTPG+ON2EPZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGJLBEsDhpSMAUOUdJRSlIwMZGVzaXJlZF9nb2FslGgHKJYwAAAAAAAAAPet1j4q65+/gr75Pc2tZr78L3S/FTSJvwkz9r5f6N+9cr4+PtNUZr8+Asw+FTSJv5RoDksESwOGlGgSdJRSlIwLb2JzZXJ2YXRpb26UaAcoljABAAAAAAAA9lAVP1nNjr0fZII+OdDDPmSl4b+kgsw+e0epP8nO6z7L46M/n9iEPUs9Pbynmui7jE1dO/hGtTzTqII73M/4PMvDxTpi7xG8vTKbuyZLtT5nemU+uHu3vNpm7D7w5/89vxajPnDyOD0T4iU/aX0YPznLhD2yfze8xU7bu28DYzs2tKY85eiAO1My/Dw5r/Y6f8aCvE2ymrvpS2o/w2Q/P2l0X78s9/E9JGTyPpyDsrzYSak/ZezdvleeYj8Nx4Q9ASg1vGcn37v42zQ774OrPFvtkTs/tvs8omKOuhKsUbyWo5q7CUuxPvklhL7X+WG/6bQAvlb2W78loqw7rlqpP7z+sD6rTPG+ON2EPTu+PLzaSeK7qHwSvjNLj7+EbWA9oc/7PJEjhrpklVG8Xv2Jv5RoDksESxOGlGgSdJRSlHUu",
+        "achieved_goal": "[[ 0.46056202  1.2803892   0.0648663 ]\n [ 0.64798087  0.5956636   0.06484074]\n [-0.43344417  0.8852286   0.06483278]\n [ 0.34569347 -0.47128806  0.06487507]]",
+        "desired_goal": "[[ 0.419296   -1.2493641   0.1219454 ]\n [-0.22527237 -0.9538572  -1.0719019 ]\n [-0.48085812 -0.10932993  0.18627337]\n [-0.8997318   0.3984546  -1.0719019 ]]",
+        "observation": "[[ 5.83266616e-01 -6.97276071e-02  2.54670113e-01  3.82447988e-01\n  -1.76285982e+00  3.99434209e-01  1.32249391e+00  4.60562021e-01\n   1.28038919e+00  6.48662969e-02 -1.15502579e-02 -7.09851412e-03\n   3.37681454e-03  2.21285671e-02  3.98741057e-03  3.03725526e-02\n   1.50882581e-03 -8.90717097e-03 -4.73627308e-03]\n [ 3.54088962e-01  2.24099740e-01 -2.23978609e-02  4.61722195e-01\n   1.24954104e-01  3.18532914e-01  4.51530814e-02  6.47980869e-01\n   5.95663607e-01  6.48407415e-02 -1.11998785e-02 -6.69273967e-03\n   3.46394978e-03  2.03496031e-02  3.93401319e-03  3.07857152e-02\n   1.88205310e-03 -1.59637909e-02 -4.72096214e-03]\n [ 9.15220797e-01  7.47631252e-01 -8.72870028e-01  1.18147224e-01\n   4.73420262e-01 -2.17912719e-02  1.32256603e+00 -4.33444172e-01\n   8.85228574e-01  6.48327842e-02 -1.10569010e-02 -6.81011705e-03\n   2.75969319e-03  2.09369343e-02  4.45334380e-03  3.07265501e-02\n  -1.08631351e-03 -1.27973724e-02 -4.71920799e-03]\n [ 3.46275598e-01 -2.58102208e-01 -8.82718503e-01 -1.25690117e-01\n  -8.59227538e-01  5.26835257e-03  1.32307982e+00  3.45693469e-01\n  -4.71288055e-01  6.48750663e-02 -1.15199639e-02 -6.90577645e-03\n  -1.43053651e-01 -1.11948240e+00  5.47919422e-02  3.07386536e-02\n  -1.02339883e-03 -1.27919652e-02 -1.07804465e+00]]"
     },
     "_last_episode_starts": {
         ":type:": "<class 'numpy.ndarray'>",
@@ -33,25 +33,25 @@
     },
     "_last_original_obs": {
         ":type:": "<class 'collections.OrderedDict'>",
-        ":serialized:": "gAWVjAIAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYwAAAAAAAAAOX2qz1s0Ce9EcKjPBxIJr1PARQ+zsGjPIXJ7zxzGOM91sCjPNM6DT7ELky9EMKjPJSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGJLBEsDhpSMAUOUdJRSlIwMZGVzaXJlZF9nb2FslGgHKJYwAAAAAAAAAKHqgzzZ2Q6+z2+dPQofzL1VqTG8CtejPNXT4D3ZDZC9X3WLPT0lCj7E8KM9C8u0PZRoDksESwOGlGgSdJRSlIwLb2JzZXJ2YXRpb26UaAcoljABAAAAAAAAwnNMPUrm0j0KoGQ8K0SkvWcH8T28SAs/Yh12PeX2qz1s0Ce9EcKjPLALfzFfslszWnift1cKP7NF1l0x+OZMM2RPLbQVQBW2pdPEqILFrj1xddY91UO7O3rxi72lDTo+ZzUFu/UEDjwcSCa9TwEUPs7BozwOPJw2g1lYt4c3sT5uBGs29x0yNtih36xdgbEvNNLgr+wm+zi330c+UvWDPftSCz6Fyj29QmaMvuFeYL9tLZI9hcnvPHMY4z3WwKM8jZiWthrWGTiPNZC4vjsxNR/EN7cAjNKsfNWTrk8KwS/Fpcq4Shg+PpWuRDs9xIc90TgrvlgDaD8iCUK/jzzksdM6DT7ELky9EMKjPNOGebLWoLmzGTpZuFnZpzNG55GwW2S9M8OI9TLZKoE2AiqAs5RoDksESxOGlGgSdJRSlHUu",
-        "achieved_goal": "[[ 0.08396701 -0.04097025  0.01999   ]\n [-0.04059611  0.14453624  0.01998987]\n [ 0.0292709   0.11088648  0.01998941]\n [ 0.13791971 -0.04984929  0.01999   ]]",
-        "desired_goal": "[[ 0.01610309 -0.1395029   0.07687341]\n [-0.09966858 -0.01084359  0.02      ]\n [ 0.10977904 -0.07033891  0.06809496]\n [ 0.13490768  0.08004907  0.0882779 ]]",
-        "observation": "[[ 4.99150828e-02  1.02978304e-01  1.39541719e-02 -8.02081451e-02\n   1.17689900e-01  5.44078588e-01  6.00866154e-02  8.39670077e-02\n  -4.09702510e-02  1.99899990e-02  3.71140274e-09  5.11521385e-08\n  -1.90103201e-05 -4.44800570e-08  3.22815308e-09  4.77075162e-08\n  -1.61407627e-07 -2.22400308e-06 -2.18521575e-14]\n [ 8.53376538e-02  1.04716189e-01  5.71487332e-03 -6.83316737e-02\n   1.81692675e-01 -2.03260197e-03  8.66817404e-03 -4.05961126e-02\n   1.44536242e-01  1.99898742e-02  4.65615358e-06 -1.28954443e-05\n   3.46126765e-01  3.50203072e-06  2.65415088e-06 -6.35600947e-12\n   3.22880306e-10 -4.08947209e-10  1.19758624e-04]\n [ 1.95189342e-01  6.44327551e-02  1.36058733e-01 -4.63357158e-02\n  -2.74217665e-01 -8.76447737e-01  7.13757053e-02  2.92708967e-02\n   1.10886477e-01  1.99894123e-02 -4.48810761e-06  3.66774402e-05\n  -6.87643114e-05  6.60245746e-07 -1.09533130e-05 -5.98410210e-12\n  -6.72270850e-11  3.51138202e-10 -9.66298758e-05]\n [ 1.85639530e-01  3.00112856e-03  6.62922636e-02 -1.67208925e-01\n   9.06301022e-01 -7.57951856e-01 -6.64255806e-09  1.37919709e-01\n  -4.98492867e-02  1.99899971e-02 -1.45243630e-08 -8.64398970e-08\n  -5.17909393e-05  7.81607881e-08 -1.06158704e-09  8.81925288e-08\n   2.85839459e-08  3.84948771e-06 -5.96810565e-08]]"
+        ":serialized:": "gAWVjAIAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwTbnVtcHkuX2NvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYwAAAAAAAAAFcTLD0nhf49k8GjPFKkdT0dT249O8CjPNPXMr1JZrA90L+jPE75/TyVjDe9CcKjPJSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGJLBEsDhpSMAUOUdJRSlIwMZGVzaXJlZF9nb2FslGgHKJYwAAAAAAAAAJYTFj2eTN+9C63LPVLbnbzkXaq9CtejPOG7Kb36uhi8jXHUPcpGn70Luw89CtejPJRoDksESwOGlGgSdJRSlIwLb2JzZXJ2YXRpb26UaAcoljABAAAAAAAAwO3tPbUsnr0prHs+CJMiPSTMLr9fLRs+2M2jPVcTLD0nhf49k8GjPNMXq7ZFnp63jHwPuDeFLzjdFuC305motwVanDrrZPY6KPwOuXA2iD0oVvM4Ca0/Pgt6cz0gvpE8C0r6PUl6CD1SpHU9HU9uPTvAozxi20E41sKtN40o+7b8KVW4a5j3t65tYTZ51rI6TI3IuqBU/7hMoUA+4D4NPhRx8Ds9T9a8XKQWPnCfmLo6z6M909cyvUlmsD3Qv6M8W9iMOJg6GzfQVmq5JK2ptxbYF7bwpU6sFhpML7P/XC7m0fu4rb6EPezdAb7sMqw7BQCyvUTlsb5KpQ08EdmjPU75/TyVjDe9CcKjPJCxMbVZDr6zNxg4vYdpc70u+Sw79nc4NXiX8jc9Vi82JB2Dv5RoDksESxOGlGgSdJRSlHUu",
+        "achieved_goal": "[[ 0.04201063  0.12427741  0.01998976]\n [ 0.05997116  0.05818092  0.01998912]\n [-0.04366286  0.08613259  0.01998892]\n [ 0.03100267 -0.0448118   0.01998998]]",
+        "desired_goal": "[[ 0.03663977 -0.10903285  0.09945115]\n [-0.01926962 -0.08318689  0.02      ]\n [-0.04143894 -0.00932192  0.10373221]\n [-0.07777174  0.03509049  0.02      ]]",
+        "observation": "[[ 1.16176128e-01 -7.72337094e-02  2.45773926e-01  3.96910012e-02\n  -6.82802439e-01  1.51540264e-01  7.99824595e-02  4.20106314e-02\n   1.24277405e-01  1.99897643e-02 -5.09897063e-06 -1.89087677e-05\n  -3.42098501e-05  4.18473173e-05 -2.67135274e-05 -2.00987906e-05\n   1.19286834e-03  1.87983864e-03 -1.36361108e-04]\n [ 6.65100813e-02  1.16031908e-04  1.87183514e-01  5.94425611e-02\n   1.77908540e-02  1.22211538e-01  3.33197452e-02  5.99711612e-02\n   5.81809171e-02  1.99891236e-02  4.62191019e-05  2.07139346e-05\n  -7.48510365e-06 -5.08222583e-05 -2.95156697e-05  3.35914547e-06\n   1.36442401e-03 -1.53008988e-03 -1.21751102e-04]\n [ 1.88115299e-01  1.37935162e-01  7.33769871e-03 -2.61608306e-02\n   1.47111356e-01 -1.16441958e-03  7.99850971e-02 -4.36628573e-02\n   8.61325935e-02  1.99889243e-02  6.71601956e-05  9.25236236e-06\n  -2.23483192e-04 -2.02269948e-05 -2.26265320e-06 -2.93664745e-12\n   1.85629595e-10  5.02493151e-11 -1.20077093e-04]\n [ 6.48168102e-02 -1.26823127e-01  5.25509380e-03 -8.69140998e-02\n  -3.47452283e-01  8.64536501e-03  8.00038651e-02  3.10026668e-02\n  -4.48118038e-02  1.99899841e-02 -6.61960257e-07 -8.85017428e-08\n  -4.49449681e-02 -5.94268106e-02  2.63936399e-03  6.87199076e-07\n   2.89191812e-05  2.61272294e-06 -1.02432680e+00]]"
     },
-    "_episode_num": 2057,
+    "_episode_num": 20689,
     "use_sde": false,
     "sde_sample_freq": -1,
     "_current_progress_remaining": 0.0,
     "_stats_window_size": 100,
     "ep_info_buffer": {
         ":type:": "<class 'collections.deque'>",
-        ":serialized:": "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"
+        ":serialized:": "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"
     },
     "ep_success_buffer": {
         ":type:": "<class 'collections.deque'>",
-        ":serialized:": "gAWVhgAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKUKImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiImJiYmJiImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYllLg=="
+        ":serialized:": "gAWVhgAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKUKImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmIiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYllLg=="
     },
-    "_n_updates": 24975,
+    "_n_updates": 249975,
     "buffer_size": 1000000,
     "batch_size": 256,
     "learning_starts": 100,
@@ -92,7 +92,7 @@
     },
     "action_space": {
         ":type:": "<class 'gymnasium.spaces.box.Box'>",
-        ":serialized:": "gAWVSgMAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMBl9zaGFwZZRLBIWUjANsb3eUjBNudW1weS5fY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolhAAAAAAAAAAAACAvwAAgL8AAIC/AACAv5RoC0sEhZSMAUOUdJRSlIwNYm91bmRlZF9iZWxvd5RoEyiWBAAAAAAAAAABAQEBlGgIjAJiMZSJiIeUUpQoSwOMAXyUTk5OSv////9K/////0sAdJRiSwSFlGgWdJRSlIwEaGlnaJRoEyiWEAAAAAAAAAAAAIA/AACAPwAAgD8AAIA/lGgLSwSFlGgWdJRSlIwNYm91bmRlZF9hYm92ZZRoEyiWBAAAAAAAAAABAQEBlGgdSwSFlGgWdJRSlIwIbG93X3JlcHKUjAQtMS4wlIwJaGlnaF9yZXBylIwDMS4wlIwKX25wX3JhbmRvbZSMFG51bXB5LnJhbmRvbS5fcGlja2xllIwQX19nZW5lcmF0b3JfY3RvcpSTlGgyjBRfX2JpdF9nZW5lcmF0b3JfY3RvcpSTlIwTbnVtcHkucmFuZG9tLl9wY2c2NJSMBVBDRzY0lJOUhZRSlH2UKIwNYml0X2dlbmVyYXRvcpSMBVBDRzY0lIwFc3RhdGWUfZQoaD+KEYvjIZ1pCDBob05Nf1T9SaEAjANpbmOUihD9XOgp1Md8wnUEnRtN9MEkdYwKaGFzX3VpbnQzMpRLAIwIdWludGVnZXKUSwB1jBpudW1weS5yYW5kb20uYml0X2dlbmVyYXRvcpSMG19fcHl4X3VucGlja2xlX1NlZWRTZXF1ZW5jZZSTlGhEjAxTZWVkU2VxdWVuY2WUk5RKIqLqA06HlFKUKIoQ1w2coGZ/Hp9Cot/hbsszUUsAaBMolhAAAAAAAAAAebJIkEdocS2fP8wotYSUy5RoCIwCdTSUiYiHlFKUKEsDaAxOTk5K/////0r/////SwB0lGJLBIWUaBZ0lFKUSwQpdJRihpRihZRSlHViLg==",
+        ":serialized:": "gAWVSQMAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMBl9zaGFwZZRLBIWUjANsb3eUjBNudW1weS5fY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolhAAAAAAAAAAAACAvwAAgL8AAIC/AACAv5RoC0sEhZSMAUOUdJRSlIwNYm91bmRlZF9iZWxvd5RoEyiWBAAAAAAAAAABAQEBlGgIjAJiMZSJiIeUUpQoSwOMAXyUTk5OSv////9K/////0sAdJRiSwSFlGgWdJRSlIwEaGlnaJRoEyiWEAAAAAAAAAAAAIA/AACAPwAAgD8AAIA/lGgLSwSFlGgWdJRSlIwNYm91bmRlZF9hYm92ZZRoEyiWBAAAAAAAAAABAQEBlGgdSwSFlGgWdJRSlIwIbG93X3JlcHKUjAQtMS4wlIwJaGlnaF9yZXBylIwDMS4wlIwKX25wX3JhbmRvbZSMFG51bXB5LnJhbmRvbS5fcGlja2xllIwQX19nZW5lcmF0b3JfY3RvcpSTlGgyjBRfX2JpdF9nZW5lcmF0b3JfY3RvcpSTlIwTbnVtcHkucmFuZG9tLl9wY2c2NJSMBVBDRzY0lJOUhZRSlH2UKIwNYml0X2dlbmVyYXRvcpSMBVBDRzY0lIwFc3RhdGWUfZQoaD+KEEfi6E/CQ2bl4OP/qGy+k2qMA2luY5SKEKUog9re56RLCq/8i3fhMQ51jApoYXNfdWludDMylEsAjAh1aW50ZWdlcpRLAHWMGm51bXB5LnJhbmRvbS5iaXRfZ2VuZXJhdG9ylIwbX19weXhfdW5waWNrbGVfU2VlZFNlcXVlbmNllJOUaESMDFNlZWRTZXF1ZW5jZZSTlEoiouoDToeUUpQoihBu3j9ufwIV1Eo2Fl6E5lEFSwBoEyiWEAAAAAAAAACuj75/HpvjT1ZtV/UQ+oCSlGgIjAJ1NJSJiIeUUpQoSwNoDE5OTkr/////Sv////9LAHSUYksEhZRoFnSUUpRLBCl0lGKGlGKFlFKUdWIu",
         "dtype": "float32",
         "_shape": [
             4

sac-PandaPickAndPlace-v3/ent_coef_optimizer.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f32d84a920857e9986d0250a61da2f24927d8f04600b3f84fe2efea48aad85b8
+oid sha256:6c93835cc4bdaae2a2b6b4ff808173c59521244265bcfddf3c4570109aa288d8
 size 2401

sac-PandaPickAndPlace-v3/policy.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2d92627493c4464d67b358a3c61f91c2147fc4715c99dd4e16d3181de6d653bf
+oid sha256:8575bf345b92e9d983a9ff678af8972b01b4aba3287b80bdc8334d5c72dfc55d
 size 1489603

sac-PandaPickAndPlace-v3/pytorch_variables.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:879050a88cc7821235c85d7c78ee88ae2010a55b9d6cdaf68c1c43b4ebcd619e
+oid sha256:0ee4e02e0ab604964ae3150e1f155f1a49b63c865e5acbcdbd7700688ce806f3
 size 1577

vec_normalize.pkl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3920bb8b478cdd8fbb0b405f50d49a8ef77dc73bd6da1e7a8f0517812391f1d7
-size 3473
+oid sha256:1bf7b1e4eba1abf5e13634d099b32637608074050f596e5b80df4a5786b555df
+size 3472