| iteration,env_steps_total,agent_steps_total,mean_episode_return,episodes_finished,success_rate_finished,collision_rate_finished,policy_loss,value_loss,entropy,elapsed_s | |
| 1,2048,8192,10.575640301784276,59,0.6271186440677966,0.3728813559322034,-0.004928603550069965,14.59065955877304,2.082795485854149,0.7 | |
| 2,4096,16384,2.562062842626195,69,0.5507246376811594,0.4492753623188406,-0.0016877946618478745,12.252745032310486,2.082753822207451,1.4 | |
| 3,6144,24576,0.47132985301821817,62,0.3870967741935484,0.6129032258064516,-0.001967126503586769,8.08212098479271,2.080322563648224,2.0 | |
| 4,8192,32768,2.4990927434936263,90,0.36666666666666664,0.6333333333333333,-0.002638525838847272,10.998004913330078,2.0817826241254807,2.7 | |
| 5,10240,40960,2.3548977821985857,81,0.3950617283950617,0.6049382716049383,-0.003068633552175015,8.251310259103775,2.0817267894744873,3.4 | |
| 6,12288,49152,4.02020804057211,81,0.4691358024691358,0.5308641975308642,-0.004024668247438967,8.351954102516174,2.077732175588608,4.1 | |
| 7,14336,57344,4.544007849135261,76,0.5394736842105263,0.4605263157894737,-0.002971892070490867,8.952785193920135,2.0765519589185715,4.8 | |
| 8,16384,65536,2.1936020220024597,77,0.42857142857142855,0.5714285714285714,-0.0030006902234163135,7.725430727005005,2.077675834298134,5.6 | |
| 9,18432,73728,3.4565656299239103,75,0.4666666666666667,0.5333333333333333,-0.002949013367469888,8.198582112789154,2.078346073627472,6.4 | |
| 10,20480,81920,1.2308934722174276,88,0.375,0.625,-0.0044605327129829675,8.13099816441536,2.0774028599262238,7.1 | |
| 11,22528,90112,2.8204232781586893,91,0.42857142857142855,0.5714285714285714,-0.0030475080420728773,8.678689658641815,2.0769801884889603,7.8 | |
| 12,24576,98304,0.8889245347782964,74,0.33783783783783783,0.6621621621621622,-0.002524282957892865,5.834856480360031,2.0732061564922333,8.5 | |
| 13,26624,106496,0.04428358325749286,70,0.2857142857142857,0.7142857142857143,-0.002909338567405939,6.503195345401764,2.0692156702280045,9.3 | |
| 14,28672,114688,1.5559471067605988,81,0.32098765432098764,0.6790123456790124,-0.003359497830388136,6.851853907108307,2.0641780644655228,10.0 | |
| 15,30720,122880,1.6219371619726632,78,0.358974358974359,0.6410256410256411,-0.004129723471123725,6.615370899438858,2.057804897427559,10.7 | |
| 16,32768,131072,2.33295302647457,78,0.3717948717948718,0.6282051282051282,-0.0032174318766919896,6.794497847557068,2.0531932562589645,11.5 | |
| 17,34816,139264,5.79612788936348,90,0.5222222222222223,0.4777777777777778,-0.0026489434530958533,9.169638335704803,2.0520108491182327,12.2 | |
| 18,36864,147456,4.276922380308538,72,0.5138888888888888,0.4861111111111111,-0.0027611292025540024,6.842963308095932,2.050378054380417,12.9 | |
| 19,38912,155648,4.9903606851391045,86,0.5465116279069767,0.45348837209302323,-0.003078278386965394,8.408494651317596,2.042968362569809,13.6 | |
| 20,40960,163840,2.266854671356896,80,0.3625,0.6375,-0.0015407394093926996,8.068686366081238,2.037264660000801,14.4 | |
| 21,43008,172032,2.9792227984840833,86,0.3953488372093023,0.6046511627906976,-0.0034769773337757215,9.113058745861053,2.034867584705353,15.1 | |
| 22,45056,180224,0.030156758302260507,82,0.2926829268292683,0.7073170731707317,-0.0027939462306676432,7.07372909784317,2.037084072828293,15.9 | |
| 23,47104,188416,3.2074196618111777,90,0.36666666666666664,0.6333333333333333,-0.0031349235359812155,7.413722187280655,2.041795939207077,16.6 | |
| 24,49152,196608,3.4296138582416664,71,0.4225352112676056,0.5774647887323944,-0.0033239419863093644,6.451312720775604,2.043825536966324,17.2 | |
| 25,51200,204800,3.2999859574226322,80,0.4625,0.5375,-0.0025079312326852232,6.926906108856201,2.0443067401647568,18.0 | |
| 26,53248,212992,3.8189263474791613,60,0.4666666666666667,0.5333333333333333,-0.002866165596060455,6.08053594827652,2.043127402663231,18.7 | |
| 27,55296,221184,3.021201148037489,93,0.45161290322580644,0.5483870967741935,-0.001985581679036841,7.476691424846649,2.0378994941711426,19.5 | |
| 28,57344,229376,2.4402852603493903,79,0.4050632911392405,0.5949367088607594,-0.0023241962044266984,5.752610236406326,2.034714698791504,20.2 | |
| 29,59392,237568,5.966961281539326,79,0.46835443037974683,0.5316455696202531,-0.0012439779711712617,7.7765122056007385,2.0389565378427505,21.1 | |
| 30,61440,245760,3.7504845612227453,72,0.5,0.5,-0.0027182766352780163,6.2421844601631165,2.0409526377916336,21.8 | |
| 31,63488,253952,1.6922513383864257,83,0.37349397590361444,0.6265060240963856,-0.0027743616665247828,7.865664720535278,2.041315972805023,22.6 | |
| 32,65536,262144,2.42512364087861,96,0.3541666666666667,0.6458333333333334,-0.0038563719717785716,7.003673791885376,2.0413284450769424,23.3 | |
| 33,67584,270336,2.1625593843448434,76,0.35526315789473684,0.6447368421052632,-0.0032946230785455555,6.754074156284332,2.041317567229271,23.9 | |
| 34,69632,278528,3.254253022030163,74,0.40540540540540543,0.5945945945945946,-0.0022394688785425387,6.230794191360474,2.0404125452041626,24.6 | |
| 35,71680,286720,2.80636341853298,83,0.42168674698795183,0.5783132530120482,-0.0027435466545284726,7.972445785999298,2.0382582247257233,25.2 | |
| 36,73728,294912,3.6626795505080514,82,0.43902439024390244,0.5609756097560976,-0.0030186151998350397,7.576087325811386,2.0357282906770706,26.0 | |
| 37,75776,303104,4.482805713320067,80,0.45,0.55,-0.0029039245418971404,7.200312286615372,2.0348491221666336,26.7 | |
| 38,77824,311296,1.3526471700564084,70,0.38571428571428573,0.6142857142857143,-0.0014371996803674847,7.642363995313644,2.035452902317047,27.3 | |
| 39,79872,319488,3.685284045022065,83,0.37349397590361444,0.6265060240963856,-0.0022183082764968276,7.732052445411682,2.0340425074100494,28.1 | |
| 40,81920,327680,3.2041106211404586,62,0.3387096774193548,0.6612903225806451,-0.003152919511194341,5.132548660039902,2.0332902520895004,28.9 | |
| 41,83968,335872,2.5305882948272944,91,0.4065934065934066,0.5934065934065934,-0.0022030029795132577,7.531362891197205,2.031634107232094,29.7 | |
| 42,86016,344064,3.88695862614541,67,0.3880597014925373,0.6119402985074627,-0.002808443910907954,5.475524514913559,2.029216393828392,30.3 | |
| 43,88064,352256,4.529799214478624,74,0.527027027027027,0.47297297297297297,-0.0028709975304082036,7.077459633350372,2.0272628366947174,31.3 | |
| 44,90112,360448,4.963569099306883,69,0.463768115942029,0.5362318840579711,-0.0030373218469321728,7.0344259440898895,2.0274009108543396,32.0 | |
| 45,92160,368640,4.90286181322881,72,0.5416666666666666,0.4583333333333333,-0.0019289599877083674,6.2651347219944,2.0290433317422867,32.6 | |
| 46,94208,376832,2.893481967114591,75,0.41333333333333333,0.5866666666666667,-0.0025801387091632932,6.944160163402557,2.032102957367897,33.2 | |
| 47,96256,385024,3.5697200894798544,82,0.45121951219512196,0.5487804878048781,-0.002958324665087275,6.755562216043472,2.0331098437309265,34.0 | |
| 48,98304,393216,4.550713637062,75,0.44,0.56,-0.001404331618687138,7.348447620868683,2.0341212451457977,34.8 | |
| 49,100352,401408,1.033377697824617,75,0.3333333333333333,0.6666666666666666,-0.0022904583311174065,6.085790604352951,2.0340641140937805,35.5 | |
| 50,102400,409600,2.4666385712852286,72,0.3472222222222222,0.6527777777777778,-0.0024065238249022514,5.462814182043076,2.033889502286911,36.3 | |
| 51,104448,417792,4.506897245002663,83,0.42168674698795183,0.5783132530120482,-0.0019391112145967782,7.028240978717804,2.034760981798172,36.9 | |
| 52,106496,425984,7.533366283298254,61,0.6557377049180327,0.3442622950819672,-0.0026932698383461684,6.476862788200378,2.0341406017541885,37.6 | |
| 53,108544,434176,1.708138642005994,62,0.532258064516129,0.46774193548387094,-0.0033126597409136593,5.225630134344101,2.032433971762657,38.3 | |
| 54,110592,442368,4.311251982919086,82,0.4634146341463415,0.5365853658536586,-0.0030828304297756404,7.31951242685318,2.0319934338331223,38.9 | |
| 55,112640,450560,2.171235135670791,73,0.3698630136986301,0.6301369863013698,-0.0028378469578456134,6.226896643638611,2.029710531234741,39.6 | |
| 56,114688,458752,4.560326129896202,80,0.475,0.525,-0.0029576695487776306,7.076795190572739,2.027935117483139,40.3 | |
| 57,116736,466944,5.987806920215872,61,0.5245901639344263,0.47540983606557374,-0.0024381950788665563,6.181976556777954,2.0304195880889893,41.0 | |
| 58,118784,475136,2.1036425462696773,90,0.4777777777777778,0.5222222222222223,-0.0035929154546465725,7.433887839317322,2.0327984541654587,41.6 | |
| 59,120832,483328,5.15335603554981,62,0.4838709677419355,0.5161290322580645,-0.001889711566036567,5.0034909546375275,2.030978187918663,42.2 | |
| 60,122880,491520,3.4565554077389473,69,0.4782608695652174,0.5217391304347826,-0.0017213669489137828,7.342305451631546,2.031145825982094,42.9 | |
| 61,124928,499712,4.207035402465194,68,0.4411764705882353,0.5588235294117647,-0.002210144608397968,5.655366510152817,2.0315774232149124,43.6 | |
| 62,126976,507904,3.8952850935956524,72,0.4305555555555556,0.5694444444444444,-0.0028251620824448764,7.787546902894974,2.03234800696373,44.3 | |
| 63,129024,516096,3.809050839074548,81,0.43209876543209874,0.5679012345679012,-0.0028237917576916516,7.464680969715118,2.0321473479270935,45.0 | |
| 64,131072,524288,4.470689786581041,81,0.5185185185185185,0.48148148148148145,-0.0032206666364800185,7.291623890399933,2.033550903201103,45.8 | |
| 65,133120,532480,2.823766911122992,66,0.45454545454545453,0.5454545454545454,-0.0022931132480152883,6.518039882183075,2.0356991589069366,46.5 | |
| 66,135168,540672,7.219030763190975,62,0.5967741935483871,0.4032258064516129,-0.002140324722859077,5.504665404558182,2.0367358326911926,47.2 | |
| 67,137216,548864,5.109908520462853,71,0.6056338028169014,0.39436619718309857,-0.0028077360475435853,7.150039792060852,2.036020800471306,47.8 | |
| 68,139264,557056,4.470355470626882,71,0.5352112676056338,0.4647887323943662,-0.0029366682283580303,6.816843241453171,2.0336417853832245,48.6 | |
| 69,141312,565248,4.006923821809376,69,0.4927536231884058,0.5072463768115942,-0.0032388644467573613,6.9354806542396545,2.0369324535131454,49.4 | |
| 70,143360,573440,5.48630763256531,81,0.5185185185185185,0.48148148148148145,-0.003506150722387247,6.922869235277176,2.0369001775979996,50.0 | |
| 71,145408,581632,6.276496978711759,86,0.5348837209302325,0.46511627906976744,-0.0024871523200999945,7.800946235656738,2.033847078680992,50.7 | |
| 72,147456,589824,2.0517811295790476,78,0.44871794871794873,0.5512820512820513,-0.001771871087839827,8.007484346628189,2.0316931009292603,51.4 | |
| 73,149504,598016,3.508949891496372,79,0.4050632911392405,0.5949367088607594,-0.0028410120285116136,6.439613550901413,2.031848281621933,52.2 | |
| 74,151552,606208,3.955355725445674,76,0.5131578947368421,0.4868421052631579,-0.0024140097957570106,6.144068092107773,2.0327788293361664,52.9 | |
| 75,153600,614400,2.9825256775213225,59,0.4745762711864407,0.5254237288135594,-0.002452779284794815,6.378163456916809,2.032555565237999,53.6 | |
| 76,155648,622592,5.400847100474584,80,0.575,0.425,-0.002404216182185337,7.749052107334137,2.029635801911354,54.3 | |
| 77,157696,630784,4.810888903765426,71,0.5352112676056338,0.4647887323943662,-0.002284207264892757,6.48259174823761,2.026926338672638,55.0 | |
| 78,159744,638976,5.10449211155906,74,0.5540540540540541,0.44594594594594594,-0.0031203972321236506,8.050639152526855,2.024889960885048,55.6 | |
| 79,161792,647168,3.6473804921025925,67,0.5223880597014925,0.47761194029850745,-0.0026033056783489883,6.79375022649765,2.0242442339658737,56.4 | |
| 80,163840,655360,2.4938354979249913,89,0.42696629213483145,0.5730337078651685,-0.0031221092503983527,8.271433800458908,2.020797312259674,57.1 | |
| 81,165888,663552,4.359073145403575,72,0.4166666666666667,0.5833333333333334,-0.00283282132295426,6.837599754333496,2.018867403268814,57.7 | |
| 82,167936,671744,3.0247102922490834,77,0.45454545454545453,0.5454545454545454,-0.0028784992755390704,8.028231352567673,2.0204811841249466,58.4 | |
| 83,169984,679936,3.923615147567417,76,0.47368421052631576,0.5263157894736842,-0.0031897368899080902,6.9545236229896545,2.0192008316516876,59.1 | |
| 84,172032,688128,3.0099735729204036,79,0.46835443037974683,0.5316455696202531,-0.002792676823446527,6.175018668174744,2.019330605864525,59.9 | |
| 85,174080,696320,3.99920613065992,68,0.47058823529411764,0.5294117647058824,-0.002998426862177439,6.4598376750946045,2.0238356441259384,61.0 | |
| 86,176128,704512,5.27820724719409,88,0.5,0.5,-0.0029865290853194892,9.01179426908493,2.025385171175003,62.1 | |
| 87,178176,712704,3.212981328288032,61,0.4918032786885246,0.5081967213114754,-0.002319139166502282,5.9457599222660065,2.025936633348465,62.8 | |
| 88,180224,720896,2.5561347175438667,77,0.44155844155844154,0.5584415584415584,-0.002878034909372218,6.938595175743103,2.025067701935768,63.5 | |
| 89,182272,729088,4.606254206750261,73,0.4931506849315068,0.5068493150684932,-0.0020808556364499964,5.941460579633713,2.019985482096672,64.3 | |
| 90,184320,737280,3.8896218783474863,79,0.4936708860759494,0.5063291139240507,-0.003806148117291741,6.839874088764191,2.015876278281212,65.1 | |
| 91,186368,745472,4.71836713903042,72,0.5416666666666666,0.4583333333333333,-0.002959071716759354,6.880435079336166,2.017375096678734,65.8 | |
| 92,188416,753664,6.599374265266771,86,0.5465116279069767,0.45348837209302323,-0.0015718843205831945,7.630314528942108,2.0190148651599884,66.6 | |
| 93,190464,761856,5.648351141018958,66,0.6212121212121212,0.3787878787878788,-0.0019299411942483857,7.0569959580898285,2.0181834399700165,67.3 | |
| 94,192512,770048,5.30717755197395,64,0.5625,0.4375,-0.0025962855434045196,7.076400518417358,2.016922026872635,67.9 | |
| 95,194560,778240,4.610240104719737,74,0.4864864864864865,0.5135135135135135,-0.002934777905466035,7.292114049196243,2.01744644343853,68.6 | |
| 96,196608,786432,5.879830592868419,66,0.5303030303030303,0.4696969696969697,-0.0018651257560122758,5.440280050039291,2.0186119079589844,69.3 | |
| 97,198656,794624,3.923606009364338,66,0.5151515151515151,0.48484848484848486,-0.0011843327010865323,5.860028892755508,2.018528461456299,69.9 | |
| 98,200704,802816,7.325918833383952,77,0.6233766233766234,0.37662337662337664,-0.0019730776984943077,7.841936677694321,2.016517713665962,70.7 | |
| 99,202752,811008,4.944044288556679,78,0.5384615384615384,0.46153846153846156,-0.002191850551753305,7.0826700031757355,2.014759451150894,71.4 | |
| 100,204800,819200,4.348469178176558,61,0.4426229508196721,0.5573770491803278,-0.002390915724390652,5.614998668432236,2.014378532767296,72.1 | |
| 101,206848,827392,3.40980102086775,83,0.4578313253012048,0.5421686746987951,-0.0023489809536840767,7.906675755977631,2.016176223754883,72.8 | |
| 102,208896,835584,4.794470843272575,65,0.47692307692307695,0.5230769230769231,-0.0022352726373355836,6.441459357738495,2.015929013490677,73.4 | |
| 103,210944,843776,3.3710735625866652,79,0.45569620253164556,0.5443037974683544,-0.0016745212487876415,6.736983299255371,2.0160105377435684,74.1 | |
| 104,212992,851968,4.948979123186142,73,0.4657534246575342,0.5342465753424658,-0.002577617247879971,6.182936519384384,2.016441226005554,74.8 | |
| 105,215040,860160,6.710686491376648,83,0.6385542168674698,0.3614457831325301,-0.0031907944357953966,7.244491249322891,2.016604632139206,75.5 | |
| 106,217088,868352,5.621752064464898,63,0.6190476190476191,0.38095238095238093,-0.001928107041749172,6.638742566108704,2.0155775249004364,76.2 | |
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| 177,362496,1449984,9.66338514180409,70,0.7,0.3,-0.001849437685450539,6.920258581638336,1.9692370146512985,127.2 | |
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| 183,374784,1499136,7.920819940437771,72,0.6527777777777778,0.3472222222222222,-0.002908502792706713,7.801872938871384,1.963697612285614,131.6 | |
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